id	sid	tid	token	lemma	pos
app01-3928	1	1	acta	acta	PROPN
app01-3928	1	2	polytechnica	polytechnica	PROPN
app01-3928	1	3	ctu	ctu	PROPN
app01-3928	1	4	proceedings	proceeding	NOUN
app01-3928	1	5	doi:10.14311	doi:10.14311	NOUN
app01-3928	1	6	/	/	SYM
app01-3928	1	7	app.2016.6.0018	app.2016.6.0018	PROPN
app01-3928	1	8	acta	acta	PROPN
app01-3928	1	9	polytechnica	polytechnica	PROPN
app01-3928	1	10	ctu	ctu	NOUN
app01-3928	1	11	proceedings	proceeding	NOUN
app01-3928	1	12	6:18–27	6:18–27	NOUN
app01-3928	1	13	,	,	PUNCT
app01-3928	1	14	2016	2016	NUM
app01-3928	1	15	©	©	PROPN
app01-3928	1	16	czech	czech	PROPN
app01-3928	1	17	technical	technical	PROPN
app01-3928	1	18	university	university	PROPN
app01-3928	1	19	in	in	ADP
app01-3928	1	20	prague	prague	PROPN
app01-3928	1	21	,	,	PUNCT
app01-3928	1	22	2016	2016	NUM
app01-3928	1	23	available	available	ADJ
app01-3928	1	24	online	online	ADV
app01-3928	1	25	at	at	ADP
app01-3928	1	26	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-3928	1	27	framework	framework	NOUN
app01-3928	1	28	for	for	ADP
app01-3928	1	29	ad	ad	X
app01-3928	1	30	hoc	hoc	X
app01-3928	1	31	network	network	NOUN
app01-3928	1	32	communication	communication	NOUN
app01-3928	1	33	in	in	ADP
app01-3928	1	34	multi	multi	ADJ
app01-3928	1	35	-	-	ADJ
app01-3928	1	36	robot	robot	ADJ
app01-3928	1	37	systems	system	NOUN
app01-3928	1	38	khilda	khilda	NOUN
app01-3928	1	39	slyusar∗	slyusar∗	PROPN
app01-3928	1	40	,	,	PUNCT
app01-3928	1	41	miroslav	miroslav	ADJ
app01-3928	1	42	kulich	kulich	PROPN
app01-3928	1	43	czech	czech	PROPN
app01-3928	1	44	technical	technical	PROPN
app01-3928	1	45	university	university	PROPN
app01-3928	1	46	in	in	ADP
app01-3928	1	47	prague	prague	PROPN
app01-3928	1	48	,	,	PUNCT
app01-3928	1	49	zikova	zikova	PROPN
app01-3928	1	50	1903/4	1903/4	NUM
app01-3928	1	51	,	,	PUNCT
app01-3928	1	52	166	166	NUM
app01-3928	1	53	36	36	NUM
app01-3928	1	54	prague	prague	NOUN
app01-3928	1	55	,	,	PUNCT
app01-3928	1	56	czech	czech	PROPN
app01-3928	1	57	republic	republic	NOUN
app01-3928	1	58	∗	∗	NOUN
app01-3928	1	59	corresponding	correspond	VERB
app01-3928	1	60	author	author	NOUN
app01-3928	1	61	:	:	PUNCT
app01-3928	1	62	slyuskhi@fel.cvut.cz	slyuskhi@fel.cvut.cz	NOUN
app01-3928	1	63	abstract	abstract	NOUN
app01-3928	1	64	.	.	PUNCT
app01-3928	2	1	assume	assume	VERB
app01-3928	2	2	a	a	DET
app01-3928	2	3	team	team	NOUN
app01-3928	2	4	of	of	ADP
app01-3928	2	5	mobile	mobile	ADJ
app01-3928	2	6	robots	robot	NOUN
app01-3928	2	7	operating	operate	VERB
app01-3928	2	8	in	in	ADP
app01-3928	2	9	environments	environment	NOUN
app01-3928	2	10	where	where	SCONJ
app01-3928	2	11	no	no	DET
app01-3928	2	12	communication	communication	NOUN
app01-3928	2	13	infrastructure	infrastructure	NOUN
app01-3928	2	14	like	like	ADP
app01-3928	2	15	routers	router	NOUN
app01-3928	2	16	or	or	CCONJ
app01-3928	2	17	access	access	NOUN
app01-3928	2	18	points	point	NOUN
app01-3928	2	19	is	be	AUX
app01-3928	2	20	available	available	ADJ
app01-3928	2	21	.	.	PUNCT
app01-3928	3	1	the	the	DET
app01-3928	3	2	robots	robot	NOUN
app01-3928	3	3	have	have	VERB
app01-3928	3	4	to	to	PART
app01-3928	3	5	create	create	VERB
app01-3928	3	6	a	a	DET
app01-3928	3	7	mobile	mobile	ADJ
app01-3928	3	8	ad	ad	NOUN
app01-3928	3	9	hoc	hoc	X
app01-3928	3	10	network	network	NOUN
app01-3928	3	11	,	,	PUNCT
app01-3928	3	12	in	in	ADP
app01-3928	3	13	that	that	DET
app01-3928	3	14	case	case	NOUN
app01-3928	3	15	,	,	PUNCT
app01-3928	3	16	it	it	PRON
app01-3928	3	17	provides	provide	VERB
app01-3928	3	18	communication	communication	NOUN
app01-3928	3	19	on	on	ADP
app01-3928	3	20	peer	peer	NOUN
app01-3928	3	21	-	-	PUNCT
app01-3928	3	22	to	to	ADP
app01-3928	3	23	-	-	PUNCT
app01-3928	3	24	peer	peer	NOUN
app01-3928	3	25	basis	basis	NOUN
app01-3928	3	26	.	.	PUNCT
app01-3928	4	1	the	the	DET
app01-3928	4	2	paper	paper	NOUN
app01-3928	4	3	gives	give	VERB
app01-3928	4	4	an	an	DET
app01-3928	4	5	overview	overview	NOUN
app01-3928	4	6	of	of	ADP
app01-3928	4	7	existing	exist	VERB
app01-3928	4	8	solutions	solution	NOUN
app01-3928	4	9	how	how	SCONJ
app01-3928	4	10	to	to	PART
app01-3928	4	11	route	route	VERB
app01-3928	4	12	messages	message	NOUN
app01-3928	4	13	in	in	ADP
app01-3928	4	14	such	such	ADJ
app01-3928	4	15	ad	ad	NOUN
app01-3928	4	16	hoc	hoc	X
app01-3928	4	17	networks	network	NOUN
app01-3928	4	18	between	between	ADP
app01-3928	4	19	robots	robot	NOUN
app01-3928	4	20	that	that	PRON
app01-3928	4	21	are	be	AUX
app01-3928	4	22	not	not	PART
app01-3928	4	23	directly	directly	ADV
app01-3928	4	24	connected	connect	VERB
app01-3928	4	25	and	and	CCONJ
app01-3928	4	26	introduces	introduce	VERB
app01-3928	4	27	a	a	DET
app01-3928	4	28	design	design	NOUN
app01-3928	4	29	of	of	ADP
app01-3928	4	30	a	a	DET
app01-3928	4	31	software	software	NOUN
app01-3928	4	32	framework	framework	NOUN
app01-3928	4	33	for	for	ADP
app01-3928	4	34	realization	realization	NOUN
app01-3928	4	35	of	of	ADP
app01-3928	4	36	such	such	ADJ
app01-3928	4	37	communication	communication	NOUN
app01-3928	4	38	.	.	PUNCT
app01-3928	5	1	feasibility	feasibility	NOUN
app01-3928	5	2	of	of	ADP
app01-3928	5	3	the	the	DET
app01-3928	5	4	proposed	propose	VERB
app01-3928	5	5	framework	framework	NOUN
app01-3928	5	6	is	be	AUX
app01-3928	5	7	shown	show	VERB
app01-3928	5	8	on	on	ADP
app01-3928	5	9	the	the	DET
app01-3928	5	10	example	example	NOUN
app01-3928	5	11	of	of	ADP
app01-3928	5	12	distributed	distribute	VERB
app01-3928	5	13	multi	multi	ADJ
app01-3928	5	14	-	-	ADJ
app01-3928	5	15	robot	robot	ADJ
app01-3928	5	16	exploration	exploration	NOUN
app01-3928	5	17	of	of	ADP
app01-3928	5	18	an	an	DET
app01-3928	5	19	a	a	DET
app01-3928	5	20	priori	priori	ADJ
app01-3928	5	21	unknown	unknown	ADJ
app01-3928	5	22	environment	environment	NOUN
app01-3928	5	23	.	.	PUNCT
app01-3928	6	1	testing	testing	NOUN
app01-3928	6	2	of	of	ADP
app01-3928	6	3	developed	develop	VERB
app01-3928	6	4	functionality	functionality	NOUN
app01-3928	6	5	in	in	ADP
app01-3928	6	6	an	an	DET
app01-3928	6	7	exploration	exploration	NOUN
app01-3928	6	8	scenario	scenario	NOUN
app01-3928	6	9	is	be	AUX
app01-3928	6	10	based	base	VERB
app01-3928	6	11	on	on	ADP
app01-3928	6	12	results	result	NOUN
app01-3928	6	13	of	of	ADP
app01-3928	6	14	several	several	ADJ
app01-3928	6	15	experiments	experiment	NOUN
app01-3928	6	16	with	with	ADP
app01-3928	6	17	various	various	ADJ
app01-3928	6	18	input	input	NOUN
app01-3928	6	19	conditions	condition	NOUN
app01-3928	6	20	of	of	ADP
app01-3928	6	21	the	the	DET
app01-3928	6	22	exploration	exploration	NOUN
app01-3928	6	23	process	process	NOUN
app01-3928	6	24	and	and	CCONJ
app01-3928	6	25	various	various	ADJ
app01-3928	6	26	sizes	size	NOUN
app01-3928	6	27	of	of	ADP
app01-3928	6	28	a	a	DET
app01-3928	6	29	team	team	NOUN
app01-3928	6	30	and	and	CCONJ
app01-3928	6	31	is	be	AUX
app01-3928	6	32	described	describe	VERB
app01-3928	6	33	herein	herein	NOUN
app01-3928	6	34	.	.	PUNCT
app01-3928	7	1	keywords	keyword	NOUN
app01-3928	7	2	:	:	PUNCT
app01-3928	7	3	multi	multi	ADJ
app01-3928	7	4	-	-	ADJ
app01-3928	7	5	robot	robot	ADJ
app01-3928	7	6	systems	system	NOUN
app01-3928	7	7	,	,	PUNCT
app01-3928	7	8	distributed	distribute	VERB
app01-3928	7	9	exploration	exploration	NOUN
app01-3928	7	10	,	,	PUNCT
app01-3928	7	11	ad	ad	X
app01-3928	7	12	hoc	hoc	X
app01-3928	7	13	network	network	NOUN
app01-3928	7	14	,	,	PUNCT
app01-3928	7	15	limited	limited	ADJ
app01-3928	7	16	communication	communication	NOUN
app01-3928	7	17	,	,	PUNCT
app01-3928	7	18	cooperation	cooperation	NOUN
app01-3928	7	19	.	.	PUNCT
app01-3928	8	1	1	1	X
app01-3928	8	2	.	.	X
app01-3928	8	3	introduction	introduction	NOUN
app01-3928	8	4	one	one	NUM
app01-3928	8	5	of	of	ADP
app01-3928	8	6	the	the	DET
app01-3928	8	7	key	key	ADJ
app01-3928	8	8	issues	issue	NOUN
app01-3928	8	9	when	when	SCONJ
app01-3928	8	10	designing	design	VERB
app01-3928	8	11	a	a	DET
app01-3928	8	12	robotic	robotic	ADJ
app01-3928	8	13	system	system	NOUN
app01-3928	8	14	involving	involve	VERB
app01-3928	8	15	more	more	ADJ
app01-3928	8	16	than	than	ADP
app01-3928	8	17	one	one	NUM
app01-3928	8	18	entity	entity	NOUN
app01-3928	8	19	is	be	AUX
app01-3928	8	20	how	how	SCONJ
app01-3928	8	21	these	these	DET
app01-3928	8	22	entities	entity	NOUN
app01-3928	8	23	communicate	communicate	VERB
app01-3928	8	24	.	.	PUNCT
app01-3928	9	1	the	the	DET
app01-3928	9	2	majority	majority	NOUN
app01-3928	9	3	of	of	ADP
app01-3928	9	4	current	current	ADJ
app01-3928	9	5	multi	multi	ADJ
app01-3928	9	6	-	-	ADJ
app01-3928	9	7	robot	robot	ADJ
app01-3928	9	8	solutions	solution	NOUN
app01-3928	9	9	are	be	AUX
app01-3928	9	10	centralized	centralize	VERB
app01-3928	9	11	(	(	PUNCT
app01-3928	9	12	i.e.	i.e.	X
app01-3928	9	13	,	,	PUNCT
app01-3928	9	14	they	they	PRON
app01-3928	9	15	have	have	VERB
app01-3928	9	16	a	a	DET
app01-3928	9	17	central	central	ADJ
app01-3928	9	18	element	element	NOUN
app01-3928	9	19	through	through	ADP
app01-3928	9	20	which	which	PRON
app01-3928	9	21	all	all	DET
app01-3928	9	22	messages	message	NOUN
app01-3928	9	23	between	between	ADP
app01-3928	9	24	robots	robot	NOUN
app01-3928	9	25	are	be	AUX
app01-3928	9	26	passed	pass	VERB
app01-3928	9	27	)	)	PUNCT
app01-3928	9	28	or	or	CCONJ
app01-3928	9	29	assume	assume	VERB
app01-3928	9	30	an	an	DET
app01-3928	9	31	unlimited	unlimited	ADJ
app01-3928	9	32	communication	communication	NOUN
app01-3928	9	33	range	range	NOUN
app01-3928	9	34	allowing	allow	VERB
app01-3928	9	35	to	to	PART
app01-3928	9	36	send	send	VERB
app01-3928	9	37	messages	message	NOUN
app01-3928	9	38	directly	directly	ADV
app01-3928	9	39	between	between	ADP
app01-3928	9	40	two	two	NUM
app01-3928	9	41	arbitrary	arbitrary	ADJ
app01-3928	9	42	robots	robot	NOUN
app01-3928	9	43	.	.	PUNCT
app01-3928	10	1	this	this	DET
app01-3928	10	2	setup	setup	NOUN
app01-3928	10	3	has	have	VERB
app01-3928	10	4	many	many	ADJ
app01-3928	10	5	advantages	advantage	NOUN
app01-3928	10	6	,	,	PUNCT
app01-3928	10	7	but	but	CCONJ
app01-3928	10	8	also	also	ADV
app01-3928	10	9	several	several	ADJ
app01-3928	10	10	drawbacks	drawback	NOUN
app01-3928	10	11	.	.	PUNCT
app01-3928	11	1	it	it	PRON
app01-3928	11	2	can	can	AUX
app01-3928	11	3	be	be	AUX
app01-3928	11	4	hard	hard	ADJ
app01-3928	11	5	,	,	PUNCT
app01-3928	11	6	costly	costly	ADJ
app01-3928	11	7	or	or	CCONJ
app01-3928	11	8	even	even	ADV
app01-3928	11	9	impossible	impossible	ADJ
app01-3928	11	10	to	to	PART
app01-3928	11	11	prepare	prepare	VERB
app01-3928	11	12	external	external	ADJ
app01-3928	11	13	communication	communication	NOUN
app01-3928	11	14	infrastructure	infrastructure	NOUN
app01-3928	11	15	assuring	assure	VERB
app01-3928	11	16	one	one	NUM
app01-3928	11	17	-	-	PUNCT
app01-3928	11	18	to	to	ADP
app01-3928	11	19	-	-	PUNCT
app01-3928	11	20	one	one	NUM
app01-3928	11	21	communication	communication	NOUN
app01-3928	11	22	accessibility	accessibility	NOUN
app01-3928	11	23	in	in	ADP
app01-3928	11	24	hostile	hostile	ADJ
app01-3928	11	25	,	,	PUNCT
app01-3928	11	26	unexplored	unexplored	ADJ
app01-3928	11	27	or	or	CCONJ
app01-3928	11	28	large	large	ADJ
app01-3928	11	29	environments	environment	NOUN
app01-3928	11	30	.	.	PUNCT
app01-3928	12	1	moreover	moreover	ADV
app01-3928	12	2	,	,	PUNCT
app01-3928	12	3	robustness	robustness	NOUN
app01-3928	12	4	of	of	ADP
app01-3928	12	5	centralized	centralized	ADJ
app01-3928	12	6	systems	system	NOUN
app01-3928	12	7	which	which	PRON
app01-3928	12	8	are	be	AUX
app01-3928	12	9	highly	highly	ADV
app01-3928	12	10	dependent	dependent	ADJ
app01-3928	12	11	on	on	ADP
app01-3928	12	12	a	a	DET
app01-3928	12	13	single	single	ADJ
app01-3928	12	14	node	node	NOUN
app01-3928	12	15	is	be	AUX
app01-3928	12	16	low	low	ADJ
app01-3928	12	17	.	.	PUNCT
app01-3928	13	1	finally	finally	ADV
app01-3928	13	2	,	,	PUNCT
app01-3928	13	3	it	it	PRON
app01-3928	13	4	might	might	AUX
app01-3928	13	5	be	be	AUX
app01-3928	13	6	difficult	difficult	ADJ
app01-3928	13	7	to	to	PART
app01-3928	13	8	exchange	exchange	VERB
app01-3928	13	9	information	information	NOUN
app01-3928	13	10	in	in	ADP
app01-3928	13	11	large	large	ADJ
app01-3928	13	12	systems	system	NOUN
app01-3928	13	13	consisting	consist	VERB
app01-3928	13	14	of	of	ADP
app01-3928	13	15	many	many	ADJ
app01-3928	13	16	robots	robot	NOUN
app01-3928	13	17	as	as	SCONJ
app01-3928	13	18	their	their	PRON
app01-3928	13	19	communication	communication	NOUN
app01-3928	13	20	capacities	capacity	NOUN
app01-3928	13	21	are	be	AUX
app01-3928	13	22	limited	limit	VERB
app01-3928	13	23	and	and	CCONJ
app01-3928	13	24	a	a	DET
app01-3928	13	25	number	number	NOUN
app01-3928	13	26	of	of	ADP
app01-3928	13	27	messages	message	NOUN
app01-3928	13	28	is	be	AUX
app01-3928	13	29	high	high	ADJ
app01-3928	13	30	.	.	PUNCT
app01-3928	14	1	some	some	DET
app01-3928	14	2	other	other	ADJ
app01-3928	14	3	arguments	argument	NOUN
app01-3928	14	4	as	as	ADV
app01-3928	14	5	well	well	ADV
app01-3928	14	6	as	as	ADP
app01-3928	14	7	real	real	ADJ
app01-3928	14	8	-	-	PUNCT
app01-3928	14	9	world	world	NOUN
app01-3928	14	10	applications	application	NOUN
app01-3928	14	11	where	where	SCONJ
app01-3928	14	12	ad	ad	X
app01-3928	14	13	hoc	hoc	X
app01-3928	14	14	networks	network	NOUN
app01-3928	14	15	improved	improve	VERB
app01-3928	14	16	or	or	CCONJ
app01-3928	14	17	might	might	AUX
app01-3928	14	18	improve	improve	VERB
app01-3928	14	19	performance	performance	NOUN
app01-3928	14	20	,	,	PUNCT
app01-3928	14	21	scalability	scalability	NOUN
app01-3928	14	22	and	and	CCONJ
app01-3928	14	23	robustness	robustness	NOUN
app01-3928	14	24	of	of	ADP
app01-3928	14	25	robotic	robotic	ADJ
app01-3928	14	26	teams	team	NOUN
app01-3928	14	27	can	can	AUX
app01-3928	14	28	be	be	AUX
app01-3928	14	29	found	find	VERB
app01-3928	14	30	in	in	ADP
app01-3928	14	31	[	[	X
app01-3928	14	32	1	1	NUM
app01-3928	14	33	]	]	PUNCT
app01-3928	14	34	.	.	PUNCT
app01-3928	15	1	elkady	elkady	PROPN
app01-3928	15	2	et	et	PROPN
app01-3928	15	3	al	al	PROPN
app01-3928	15	4	.	.	PUNCT
app01-3928	16	1	[	[	X
app01-3928	16	2	2	2	NUM
app01-3928	16	3	]	]	PUNCT
app01-3928	16	4	give	give	VERB
app01-3928	16	5	a	a	DET
app01-3928	16	6	nice	nice	ADJ
app01-3928	16	7	survey	survey	NOUN
app01-3928	16	8	of	of	ADP
app01-3928	16	9	robotic	robotic	ADJ
app01-3928	16	10	middlewares	middleware	NOUN
app01-3928	16	11	.	.	PUNCT
app01-3928	17	1	besides	besides	SCONJ
app01-3928	17	2	centralized	centralized	ADJ
app01-3928	17	3	client	client	NOUN
app01-3928	17	4	-	-	PUNCT
app01-3928	17	5	server	server	NOUN
app01-3928	17	6	architecture	architecture	NOUN
app01-3928	17	7	employed	employ	VERB
app01-3928	17	8	,	,	PUNCT
app01-3928	17	9	e.g.	e.g.	ADV
app01-3928	17	10	in	in	ADP
app01-3928	17	11	player	player	NOUN
app01-3928	17	12	/	/	SYM
app01-3928	17	13	stage	stage	NOUN
app01-3928	17	14	/	/	SYM
app01-3928	17	15	gazebo	gazebo	NOUN
app01-3928	17	16	[	[	X
app01-3928	17	17	3	3	NUM
app01-3928	17	18	]	]	PUNCT
app01-3928	17	19	,	,	PUNCT
app01-3928	17	20	ace	ace	PROPN
app01-3928	17	21	/	/	SYM
app01-3928	17	22	tao	tao	PROPN
app01-3928	17	23	library	library	NOUN
app01-3928	18	1	[	[	X
app01-3928	18	2	4	4	NUM
app01-3928	18	3	]	]	PUNCT
app01-3928	18	4	,	,	PUNCT
app01-3928	18	5	implementation	implementation	NOUN
app01-3928	18	6	of	of	ADP
app01-3928	18	7	corba	corba	PROPN
app01-3928	18	8	(	(	PUNCT
app01-3928	18	9	common	common	ADJ
app01-3928	18	10	object	object	NOUN
app01-3928	18	11	request	request	NOUN
app01-3928	18	12	broker	broker	NOUN
app01-3928	18	13	architecture	architecture	NOUN
app01-3928	18	14	)	)	PUNCT
app01-3928	18	15	standard	standard	NOUN
app01-3928	18	16	[	[	X
app01-3928	18	17	5	5	NUM
app01-3928	18	18	]	]	PUNCT
app01-3928	18	19	,	,	PUNCT
app01-3928	18	20	is	be	AUX
app01-3928	18	21	used	use	VERB
app01-3928	18	22	for	for	ADP
app01-3928	18	23	peer	peer	NOUN
app01-3928	18	24	-	-	PUNCT
app01-3928	18	25	to	to	ADP
app01-3928	18	26	-	-	PUNCT
app01-3928	18	27	peer	peer	NOUN
app01-3928	18	28	communication	communication	NOUN
app01-3928	18	29	in	in	ADP
app01-3928	18	30	middlewares	middleware	NOUN
app01-3928	18	31	like	like	ADP
app01-3928	18	32	claraty	claraty	NOUN
app01-3928	18	33	[	[	X
app01-3928	18	34	6	6	NUM
app01-3928	18	35	]	]	PUNCT
app01-3928	18	36	,	,	PUNCT
app01-3928	18	37	miro	miro	PROPN
app01-3928	19	1	[	[	X
app01-3928	19	2	7	7	NUM
app01-3928	19	3	]	]	PUNCT
app01-3928	19	4	,	,	PUNCT
app01-3928	19	5	orocos	oroco	NOUN
app01-3928	20	1	[	[	X
app01-3928	20	2	8	8	NUM
app01-3928	20	3	]	]	PUNCT
app01-3928	20	4	.	.	PUNCT
app01-3928	21	1	alternatively	alternatively	ADV
app01-3928	21	2	,	,	PUNCT
app01-3928	21	3	the	the	DET
app01-3928	21	4	ice	ice	NOUN
app01-3928	21	5	framework	framework	NOUN
app01-3928	21	6	by	by	ADP
app01-3928	21	7	zeroc	zeroc	NOUN
app01-3928	21	8	[	[	X
app01-3928	21	9	9	9	NUM
app01-3928	21	10	]	]	PUNCT
app01-3928	21	11	for	for	ADP
app01-3928	21	12	remote	remote	ADJ
app01-3928	21	13	procedure	procedure	NOUN
app01-3928	21	14	calling	call	VERB
app01-3928	21	15	(	(	PUNCT
app01-3928	21	16	rpc	rpc	NOUN
app01-3928	21	17	)	)	PUNCT
app01-3928	21	18	can	can	AUX
app01-3928	21	19	be	be	AUX
app01-3928	21	20	used	use	VERB
app01-3928	21	21	as	as	SCONJ
app01-3928	21	22	it	it	PRON
app01-3928	21	23	is	be	AUX
app01-3928	21	24	already	already	ADV
app01-3928	21	25	done	do	VERB
app01-3928	21	26	in	in	ADP
app01-3928	21	27	the	the	DET
app01-3928	21	28	orca	orca	NOUN
app01-3928	21	29	project	project	NOUN
app01-3928	21	30	[	[	X
app01-3928	21	31	10	10	NUM
app01-3928	21	32	]	]	PUNCT
app01-3928	21	33	.	.	PUNCT
app01-3928	22	1	both	both	DET
app01-3928	22	2	zeroc	zeroc	NOUN
app01-3928	22	3	ice	ice	NOUN
app01-3928	22	4	and	and	CCONJ
app01-3928	22	5	corba	corba	PROPN
app01-3928	22	6	do	do	AUX
app01-3928	22	7	not	not	PART
app01-3928	22	8	provide	provide	VERB
app01-3928	22	9	communication	communication	NOUN
app01-3928	22	10	between	between	ADP
app01-3928	22	11	directly	directly	ADV
app01-3928	22	12	inaccessible	inaccessible	ADJ
app01-3928	22	13	nodes	node	NOUN
app01-3928	22	14	in	in	ADP
app01-3928	22	15	a	a	DET
app01-3928	22	16	decentralized	decentralized	ADJ
app01-3928	22	17	fashion	fashion	NOUN
app01-3928	22	18	and	and	CCONJ
app01-3928	22	19	although	although	SCONJ
app01-3928	22	20	extensions	extension	NOUN
app01-3928	22	21	for	for	ADP
app01-3928	22	22	ad	ad	X
app01-3928	22	23	hoc	hoc	X
app01-3928	22	24	networks	network	NOUN
app01-3928	22	25	exist	exist	VERB
app01-3928	22	26	[	[	X
app01-3928	22	27	11	11	NUM
app01-3928	22	28	]	]	PUNCT
app01-3928	22	29	they	they	PRON
app01-3928	22	30	were	be	AUX
app01-3928	22	31	not	not	PART
app01-3928	22	32	used	use	VERB
app01-3928	22	33	in	in	ADP
app01-3928	22	34	the	the	DET
app01-3928	22	35	mentioned	mention	VERB
app01-3928	22	36	robotic	robotic	ADJ
app01-3928	22	37	middlewares	middleware	NOUN
app01-3928	22	38	.	.	PUNCT
app01-3928	23	1	communication	communication	NOUN
app01-3928	23	2	in	in	ADP
app01-3928	23	3	robot	robot	NOUN
app01-3928	23	4	operating	operating	NOUN
app01-3928	23	5	system	system	NOUN
app01-3928	23	6	(	(	PUNCT
app01-3928	23	7	ros	ros	PROPN
app01-3928	23	8	)	)	PUNCT
app01-3928	24	1	[	[	X
app01-3928	24	2	12	12	NUM
app01-3928	24	3	]	]	PUNCT
app01-3928	24	4	,	,	PUNCT
app01-3928	24	5	the	the	DET
app01-3928	24	6	mostly	mostly	ADV
app01-3928	24	7	popular	popular	ADJ
app01-3928	24	8	robotic	robotic	ADJ
app01-3928	24	9	framework	framework	NOUN
app01-3928	24	10	,	,	PUNCT
app01-3928	24	11	is	be	AUX
app01-3928	24	12	peer	peer	NOUN
app01-3928	24	13	-	-	PUNCT
app01-3928	24	14	to	to	ADP
app01-3928	24	15	-	-	PUNCT
app01-3928	24	16	peer	peer	NOUN
app01-3928	24	17	,	,	PUNCT
app01-3928	24	18	but	but	CCONJ
app01-3928	24	19	this	this	DET
app01-3928	24	20	communication	communication	NOUN
app01-3928	24	21	is	be	AUX
app01-3928	24	22	mediated	mediate	VERB
app01-3928	24	23	by	by	ADP
app01-3928	24	24	so	so	ADV
app01-3928	24	25	called	call	VERB
app01-3928	24	26	rosmaster	rosmaster	NOUN
app01-3928	24	27	.	.	PUNCT
app01-3928	25	1	this	this	DET
app01-3928	25	2	node	node	NOUN
app01-3928	25	3	provides	provide	VERB
app01-3928	25	4	naming	naming	NOUN
app01-3928	25	5	and	and	CCONJ
app01-3928	25	6	registration	registration	NOUN
app01-3928	25	7	services	service	NOUN
app01-3928	25	8	and	and	CCONJ
app01-3928	25	9	enables	enable	VERB
app01-3928	25	10	individual	individual	ADJ
app01-3928	25	11	ros	ros	PROPN
app01-3928	25	12	nodes	node	NOUN
app01-3928	25	13	to	to	PART
app01-3928	25	14	locate	locate	VERB
app01-3928	25	15	one	one	NUM
app01-3928	25	16	another	another	DET
app01-3928	25	17	.	.	PUNCT
app01-3928	26	1	once	once	SCONJ
app01-3928	26	2	the	the	DET
app01-3928	26	3	nodes	node	NOUN
app01-3928	26	4	locate	locate	VERB
app01-3928	26	5	each	each	DET
app01-3928	26	6	other	other	ADJ
app01-3928	26	7	,	,	PUNCT
app01-3928	26	8	they	they	PRON
app01-3928	26	9	communicate	communicate	VERB
app01-3928	26	10	directly	directly	ADV
app01-3928	26	11	.	.	PUNCT
app01-3928	27	1	also	also	ADV
app01-3928	27	2	ros	ros	PROPN
app01-3928	27	3	does	do	AUX
app01-3928	27	4	not	not	PART
app01-3928	27	5	provide	provide	VERB
app01-3928	27	6	routing	routing	NOUN
app01-3928	27	7	of	of	ADP
app01-3928	27	8	messages	message	NOUN
app01-3928	27	9	between	between	ADP
app01-3928	27	10	inaccessible	inaccessible	ADJ
app01-3928	27	11	nodes	node	NOUN
app01-3928	27	12	.	.	PUNCT
app01-3928	28	1	on	on	ADP
app01-3928	28	2	the	the	DET
app01-3928	28	3	other	other	ADJ
app01-3928	28	4	side	side	NOUN
app01-3928	28	5	,	,	PUNCT
app01-3928	28	6	several	several	ADJ
app01-3928	28	7	works	work	NOUN
app01-3928	28	8	were	be	AUX
app01-3928	28	9	presented	present	VERB
app01-3928	28	10	which	which	PRON
app01-3928	28	11	describe	describe	VERB
app01-3928	28	12	application	application	NOUN
app01-3928	28	13	of	of	ADP
app01-3928	28	14	mobile	mobile	ADJ
app01-3928	28	15	ad	ad	X
app01-3928	28	16	hoc	hoc	X
app01-3928	28	17	networks	network	NOUN
app01-3928	28	18	with	with	ADP
app01-3928	28	19	routing	routing	NOUN
app01-3928	28	20	in	in	ADP
app01-3928	28	21	robotics	robotic	NOUN
app01-3928	28	22	.	.	PUNCT
app01-3928	29	1	witkowski	witkowski	PROPN
app01-3928	29	2	et	et	PROPN
app01-3928	29	3	al	al	PROPN
app01-3928	29	4	.	.	PUNCT
app01-3928	30	1	[	[	X
app01-3928	30	2	13	13	NUM
app01-3928	30	3	]	]	PUNCT
app01-3928	30	4	present	present	ADJ
app01-3928	30	5	a	a	DET
app01-3928	30	6	cell	cell	NOUN
app01-3928	30	7	-	-	PUNCT
app01-3928	30	8	based	base	VERB
app01-3928	30	9	network	network	NOUN
app01-3928	30	10	with	with	ADP
app01-3928	30	11	master	master	NOUN
app01-3928	30	12	nodes	node	NOUN
app01-3928	30	13	in	in	ADP
app01-3928	30	14	each	each	DET
app01-3928	30	15	cell	cell	NOUN
app01-3928	30	16	and	and	CCONJ
app01-3928	30	17	routing	routing	NOUN
app01-3928	30	18	between	between	ADP
app01-3928	30	19	distant	distant	ADJ
app01-3928	30	20	nodes	node	NOUN
app01-3928	30	21	is	be	AUX
app01-3928	30	22	provided	provide	VERB
app01-3928	30	23	through	through	ADP
app01-3928	30	24	these	these	DET
app01-3928	30	25	master	master	NOUN
app01-3928	30	26	nodes	node	NOUN
app01-3928	30	27	which	which	PRON
app01-3928	30	28	are	be	AUX
app01-3928	30	29	distributed	distribute	VERB
app01-3928	30	30	uniformly	uniformly	ADV
app01-3928	30	31	in	in	ADP
app01-3928	30	32	the	the	DET
app01-3928	30	33	environment	environment	NOUN
app01-3928	30	34	.	.	PUNCT
app01-3928	31	1	the	the	DET
app01-3928	31	2	authors	author	NOUN
app01-3928	31	3	validate	validate	VERB
app01-3928	31	4	the	the	DET
app01-3928	31	5	approach	approach	NOUN
app01-3928	31	6	on	on	ADP
app01-3928	31	7	two	two	NUM
app01-3928	31	8	scenarios	scenario	NOUN
app01-3928	31	9	.	.	PUNCT
app01-3928	32	1	while	while	SCONJ
app01-3928	32	2	measuring	measure	VERB
app01-3928	32	3	of	of	ADP
app01-3928	32	4	the	the	DET
app01-3928	32	5	signal	signal	ADJ
app01-3928	32	6	quality	quality	NOUN
app01-3928	32	7	of	of	ADP
app01-3928	32	8	wlan	wlan	NOUN
app01-3928	32	9	and	and	CCONJ
app01-3928	32	10	bluetooth	bluetooth	NOUN
app01-3928	32	11	communication	communication	NOUN
app01-3928	32	12	nodes	node	NOUN
app01-3928	32	13	in	in	ADP
app01-3928	32	14	indoor	indoor	ADJ
app01-3928	32	15	environments	environment	NOUN
app01-3928	32	16	with	with	ADP
app01-3928	32	17	different	different	ADJ
app01-3928	32	18	kind	kind	NOUN
app01-3928	32	19	of	of	ADP
app01-3928	32	20	wall	wall	NOUN
app01-3928	32	21	materials	material	NOUN
app01-3928	32	22	is	be	AUX
app01-3928	32	23	the	the	DET
app01-3928	32	24	aims	aim	NOUN
app01-3928	32	25	of	of	ADP
app01-3928	32	26	the	the	DET
app01-3928	32	27	first	first	ADJ
app01-3928	32	28	one	one	NUM
app01-3928	32	29	,	,	PUNCT
app01-3928	32	30	the	the	DET
app01-3928	32	31	second	second	ADJ
app01-3928	32	32	experiment	experiment	NOUN
app01-3928	32	33	deals	deal	NOUN
app01-3928	32	34	with	with	ADP
app01-3928	32	35	radio	radio	NOUN
app01-3928	32	36	-	-	PUNCT
app01-3928	32	37	based	base	VERB
app01-3928	32	38	positioning	positioning	NOUN
app01-3928	32	39	of	of	ADP
app01-3928	32	40	robots	robot	NOUN
app01-3928	32	41	in	in	ADP
app01-3928	32	42	a	a	DET
app01-3928	32	43	dynamic	dynamic	ADJ
app01-3928	32	44	environment	environment	NOUN
app01-3928	32	45	.	.	PUNCT
app01-3928	33	1	corell	corell	PROPN
app01-3928	33	2	et	et	PROPN
app01-3928	33	3	al	al	PROPN
app01-3928	33	4	.	.	PUNCT
app01-3928	34	1	[	[	X
app01-3928	34	2	14	14	NUM
app01-3928	34	3	]	]	PUNCT
app01-3928	34	4	study	study	VERB
app01-3928	34	5	a	a	DET
app01-3928	34	6	wireless	wireless	ADJ
app01-3928	34	7	coverage	coverage	NOUN
app01-3928	34	8	problem	problem	NOUN
app01-3928	34	9	with	with	ADP
app01-3928	34	10	minimal	minimal	ADJ
app01-3928	34	11	requirements	requirement	NOUN
app01-3928	34	12	to	to	ADP
app01-3928	34	13	hardware	hardware	NOUN
app01-3928	34	14	of	of	ADP
app01-3928	34	15	robots	robot	NOUN
app01-3928	34	16	.	.	PUNCT
app01-3928	35	1	as	as	ADP
app01-3928	35	2	a	a	DET
app01-3928	35	3	communication	communication	NOUN
app01-3928	35	4	middleware	middleware	NOUN
app01-3928	35	5	they	they	PRON
app01-3928	35	6	use	use	VERB
app01-3928	35	7	optimized	optimize	VERB
app01-3928	35	8	link	link	NOUN
app01-3928	35	9	state	state	NOUN
app01-3928	35	10	routing	routing	NOUN
app01-3928	35	11	(	(	PUNCT
app01-3928	35	12	olsr	olsr	PROPN
app01-3928	35	13	)	)	PUNCT
app01-3928	36	1	[	[	X
app01-3928	36	2	15	15	NUM
app01-3928	36	3	]	]	PUNCT
app01-3928	36	4	which	which	PRON
app01-3928	36	5	provides	provide	VERB
app01-3928	36	6	tcp	tcp	NOUN
app01-3928	36	7	/	/	SYM
app01-3928	36	8	ip	ip	NOUN
app01-3928	36	9	routing	routing	NOUN
app01-3928	36	10	for	for	ADP
app01-3928	36	11	the	the	DET
app01-3928	36	12	resulting	result	VERB
app01-3928	36	13	mesh	mesh	NOUN
app01-3928	36	14	network	network	NOUN
app01-3928	36	15	.	.	PUNCT
app01-3928	37	1	a	a	DET
app01-3928	37	2	suite	suite	NOUN
app01-3928	37	3	of	of	ADP
app01-3928	37	4	algorithms	algorithm	NOUN
app01-3928	37	5	that	that	PRON
app01-3928	37	6	cover	cover	VERB
app01-3928	37	7	a	a	DET
app01-3928	37	8	defined	define	VERB
app01-3928	37	9	area	area	NOUN
app01-3928	37	10	by	by	ADP
app01-3928	37	11	a	a	DET
app01-3928	37	12	fully	fully	ADV
app01-3928	37	13	distributed	distribute	VERB
app01-3928	37	14	robotic	robotic	ADJ
app01-3928	37	15	team	team	NOUN
app01-3928	37	16	,	,	PUNCT
app01-3928	37	17	detect	detect	VERB
app01-3928	37	18	network	network	NOUN
app01-3928	37	19	disconnections	disconnection	NOUN
app01-3928	37	20	,	,	PUNCT
app01-3928	37	21	perform	perform	VERB
app01-3928	37	22	network	network	NOUN
app01-3928	37	23	repair	repair	NOUN
app01-3928	37	24	,	,	PUNCT
app01-3928	37	25	and	and	CCONJ
app01-3928	37	26	repair	repair	NOUN
app01-3928	37	27	area	area	NOUN
app01-3928	37	28	coverage	coverage	NOUN
app01-3928	37	29	is	be	AUX
app01-3928	37	30	presented	present	VERB
app01-3928	37	31	in	in	ADP
app01-3928	37	32	[	[	X
app01-3928	37	33	16	16	NUM
app01-3928	37	34	]	]	PUNCT
app01-3928	37	35	.	.	PUNCT
app01-3928	38	1	finally	finally	ADV
app01-3928	38	2	,	,	PUNCT
app01-3928	38	3	agrawal	agrawal	PROPN
app01-3928	38	4	et	et	PROPN
app01-3928	38	5	.	.	PUNCT
app01-3928	39	1	al	al	PROPN
app01-3928	40	1	[	[	X
app01-3928	40	2	17	17	NUM
app01-3928	40	3	]	]	PUNCT
app01-3928	40	4	experimentally	experimentally	ADV
app01-3928	40	5	evaluate	evaluate	VERB
app01-3928	40	6	two	two	NUM
app01-3928	40	7	routing	routing	NOUN
app01-3928	40	8	protocols	protocol	NOUN
app01-3928	40	9	for	for	ADP
app01-3928	40	10	a	a	DET
app01-3928	40	11	robotic	robotic	ADJ
app01-3928	40	12	swarm	swarm	NOUN
app01-3928	40	13	.	.	PUNCT
app01-3928	41	1	the	the	DET
app01-3928	41	2	swarm	swarm	NOUN
app01-3928	41	3	aims	aim	VERB
app01-3928	41	4	to	to	PART
app01-3928	41	5	find	find	VERB
app01-3928	41	6	a	a	DET
app01-3928	41	7	source	source	NOUN
app01-3928	41	8	of	of	ADP
app01-3928	41	9	heat	heat	NOUN
app01-3928	41	10	and	and	CCONJ
app01-3928	41	11	a	a	DET
app01-3928	41	12	particle	particle	NOUN
app01-3928	41	13	swarm	swarm	NOUN
app01-3928	41	14	optimization	optimization	NOUN
app01-3928	41	15	algorithm	algorithm	NOUN
app01-3928	41	16	is	be	AUX
app01-3928	41	17	employed	employ	VERB
app01-3928	41	18	as	as	ADP
app01-3928	41	19	a	a	DET
app01-3928	41	20	search	search	NOUN
app01-3928	41	21	strategy	strategy	NOUN
app01-3928	41	22	.	.	PUNCT
app01-3928	42	1	the	the	DET
app01-3928	42	2	aim	aim	NOUN
app01-3928	42	3	of	of	ADP
app01-3928	42	4	this	this	DET
app01-3928	42	5	paper	paper	NOUN
app01-3928	42	6	is	be	AUX
app01-3928	42	7	to	to	PART
app01-3928	42	8	give	give	VERB
app01-3928	42	9	an	an	DET
app01-3928	42	10	overview	overview	NOUN
app01-3928	42	11	of	of	ADP
app01-3928	42	12	routing	route	VERB
app01-3928	42	13	protocols	protocol	NOUN
app01-3928	42	14	in	in	ADP
app01-3928	42	15	ad	ad	X
app01-3928	42	16	hoc	hoc	X
app01-3928	42	17	networks	network	NOUN
app01-3928	42	18	and	and	CCONJ
app01-3928	42	19	choose	choose	VERB
app01-3928	42	20	the	the	DET
app01-3928	42	21	most	most	ADV
app01-3928	42	22	18	18	NUM
app01-3928	42	23	http://dx.doi.org/10.14311/app.2016.6.0018	http://dx.doi.org/10.14311/app.2016.6.0018	NOUN
app01-3928	42	24	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-3928	42	25	vol	vol	NOUN
app01-3928	42	26	.	.	PUNCT
app01-3928	43	1	6/2016	6/2016	NUM
app01-3928	43	2	framework	framework	NOUN
app01-3928	43	3	for	for	ADP
app01-3928	43	4	ad	ad	X
app01-3928	43	5	hoc	hoc	X
app01-3928	43	6	network	network	NOUN
app01-3928	43	7	communication	communication	NOUN
app01-3928	43	8	in	in	ADP
app01-3928	43	9	multi	multi	ADJ
app01-3928	43	10	-	-	ADJ
app01-3928	43	11	robot	robot	ADJ
app01-3928	43	12	systems	system	NOUN
app01-3928	43	13	suitable	suitable	ADJ
app01-3928	43	14	for	for	ADP
app01-3928	43	15	application	application	NOUN
app01-3928	43	16	in	in	ADP
app01-3928	43	17	the	the	DET
app01-3928	43	18	multi	multi	ADJ
app01-3928	43	19	-	-	ADJ
app01-3928	43	20	robot	robot	ADJ
app01-3928	43	21	domain	domain	NOUN
app01-3928	43	22	.	.	PUNCT
app01-3928	44	1	the	the	DET
app01-3928	44	2	chosen	choose	VERB
app01-3928	44	3	protocol	protocol	NOUN
app01-3928	44	4	is	be	AUX
app01-3928	44	5	than	than	SCONJ
app01-3928	44	6	used	use	VERB
app01-3928	44	7	in	in	ADP
app01-3928	44	8	a	a	DET
app01-3928	44	9	design	design	NOUN
app01-3928	44	10	and	and	CCONJ
app01-3928	44	11	realization	realization	NOUN
app01-3928	44	12	of	of	ADP
app01-3928	44	13	the	the	DET
app01-3928	44	14	framework	framework	NOUN
app01-3928	44	15	for	for	ADP
app01-3928	44	16	exploration	exploration	NOUN
app01-3928	44	17	of	of	ADP
app01-3928	44	18	an	an	DET
app01-3928	44	19	a	a	DET
app01-3928	44	20	priori	priori	X
app01-3928	44	21	unknown	unknown	ADJ
app01-3928	44	22	environment	environment	NOUN
app01-3928	44	23	which	which	PRON
app01-3928	44	24	thus	thus	ADV
app01-3928	44	25	serves	serve	VERB
app01-3928	44	26	as	as	ADP
app01-3928	44	27	a	a	DET
app01-3928	44	28	testbed	testbe	VERB
app01-3928	44	29	for	for	ADP
app01-3928	44	30	experimental	experimental	ADJ
app01-3928	44	31	evaluation	evaluation	NOUN
app01-3928	44	32	of	of	ADP
app01-3928	44	33	the	the	DET
app01-3928	44	34	protocol	protocol	NOUN
app01-3928	44	35	implementation	implementation	NOUN
app01-3928	44	36	.	.	PUNCT
app01-3928	45	1	the	the	DET
app01-3928	45	2	rest	rest	NOUN
app01-3928	45	3	of	of	ADP
app01-3928	45	4	the	the	DET
app01-3928	45	5	paper	paper	NOUN
app01-3928	45	6	is	be	AUX
app01-3928	45	7	structured	structure	VERB
app01-3928	45	8	as	as	SCONJ
app01-3928	45	9	follows	follow	VERB
app01-3928	45	10	.	.	PUNCT
app01-3928	46	1	section	section	NOUN
app01-3928	46	2	2	2	NUM
app01-3928	46	3	contains	contain	VERB
app01-3928	46	4	a	a	DET
app01-3928	46	5	structured	structured	ADJ
app01-3928	46	6	list	list	NOUN
app01-3928	46	7	of	of	ADP
app01-3928	46	8	requirements	requirement	NOUN
app01-3928	46	9	for	for	ADP
app01-3928	46	10	a	a	DET
app01-3928	46	11	routing	routing	NOUN
app01-3928	46	12	protocol	protocol	NOUN
app01-3928	46	13	,	,	PUNCT
app01-3928	46	14	a	a	DET
app01-3928	46	15	classification	classification	NOUN
app01-3928	46	16	of	of	ADP
app01-3928	46	17	protocols	protocol	NOUN
app01-3928	46	18	,	,	PUNCT
app01-3928	46	19	and	and	CCONJ
app01-3928	46	20	describes	describe	VERB
app01-3928	46	21	the	the	DET
app01-3928	46	22	main	main	ADJ
app01-3928	46	23	representatives	representative	NOUN
app01-3928	46	24	of	of	ADP
app01-3928	46	25	the	the	DET
app01-3928	46	26	categories	category	NOUN
app01-3928	46	27	.	.	PUNCT
app01-3928	47	1	then	then	ADV
app01-3928	47	2	a	a	DET
app01-3928	47	3	comparative	comparative	ADJ
app01-3928	47	4	analysis	analysis	NOUN
app01-3928	47	5	of	of	ADP
app01-3928	47	6	routing	route	VERB
app01-3928	47	7	protocols	protocol	NOUN
app01-3928	47	8	is	be	AUX
app01-3928	47	9	performed	perform	VERB
app01-3928	47	10	.	.	PUNCT
app01-3928	48	1	analysis	analysis	NOUN
app01-3928	48	2	of	of	ADP
app01-3928	48	3	three	three	NUM
app01-3928	48	4	message	message	NOUN
app01-3928	48	5	-	-	PUNCT
app01-3928	48	6	oriented	orient	VERB
app01-3928	48	7	middlewares	middleware	NOUN
app01-3928	48	8	(	(	PUNCT
app01-3928	48	9	mom	mom	NOUN
app01-3928	48	10	)	)	PUNCT
app01-3928	48	11	describes	describe	VERB
app01-3928	48	12	in	in	ADP
app01-3928	48	13	section	section	NOUN
app01-3928	48	14	3	3	NUM
app01-3928	48	15	.	.	PUNCT
app01-3928	49	1	the	the	DET
app01-3928	49	2	general	general	ADJ
app01-3928	49	3	application	application	NOUN
app01-3928	49	4	architecture	architecture	NOUN
app01-3928	49	5	and	and	CCONJ
app01-3928	49	6	using	use	VERB
app01-3928	49	7	of	of	ADP
app01-3928	49	8	selected	select	VERB
app01-3928	49	9	measures	measure	NOUN
app01-3928	49	10	is	be	AUX
app01-3928	49	11	presented	present	VERB
app01-3928	49	12	in	in	ADP
app01-3928	49	13	section	section	NOUN
app01-3928	49	14	4	4	NUM
app01-3928	49	15	.	.	PUNCT
app01-3928	49	16	section	section	NOUN
app01-3928	49	17	5	5	NUM
app01-3928	49	18	contains	contain	VERB
app01-3928	49	19	results	result	NOUN
app01-3928	49	20	of	of	ADP
app01-3928	49	21	the	the	DET
app01-3928	49	22	experiments	experiment	NOUN
app01-3928	49	23	,	,	PUNCT
app01-3928	49	24	which	which	PRON
app01-3928	49	25	allow	allow	VERB
app01-3928	49	26	to	to	PART
app01-3928	49	27	verify	verify	VERB
app01-3928	49	28	the	the	DET
app01-3928	49	29	implementation	implementation	NOUN
app01-3928	49	30	performance	performance	NOUN
app01-3928	49	31	of	of	ADP
app01-3928	49	32	the	the	DET
app01-3928	49	33	proposed	propose	VERB
app01-3928	49	34	architecture	architecture	NOUN
app01-3928	49	35	.	.	PUNCT
app01-3928	50	1	the	the	DET
app01-3928	50	2	final	final	ADJ
app01-3928	50	3	evaluation	evaluation	NOUN
app01-3928	50	4	of	of	ADP
app01-3928	50	5	the	the	DET
app01-3928	50	6	paper	paper	NOUN
app01-3928	50	7	is	be	AUX
app01-3928	50	8	in	in	ADP
app01-3928	50	9	conclusion	conclusion	NOUN
app01-3928	50	10	.	.	PUNCT
app01-3928	51	1	2	2	X
app01-3928	51	2	.	.	X
app01-3928	51	3	ad	ad	NOUN
app01-3928	51	4	hoc	hoc	X
app01-3928	51	5	routing	routing	NOUN
app01-3928	51	6	protocols	protocol	NOUN
app01-3928	51	7	a	a	DET
app01-3928	51	8	robot	robot	NOUN
app01-3928	51	9	team	team	NOUN
app01-3928	51	10	forms	form	VERB
app01-3928	51	11	an	an	DET
app01-3928	51	12	ad	ad	NOUN
app01-3928	51	13	hoc	hoc	X
app01-3928	51	14	network	network	NOUN
app01-3928	51	15	as	as	SCONJ
app01-3928	51	16	it	it	PRON
app01-3928	51	17	does	do	AUX
app01-3928	51	18	not	not	PART
app01-3928	51	19	rely	rely	VERB
app01-3928	51	20	on	on	ADP
app01-3928	51	21	a	a	DET
app01-3928	51	22	pre	pre	ADJ
app01-3928	51	23	-	-	ADJ
app01-3928	51	24	existing	existing	ADJ
app01-3928	51	25	infrastructure	infrastructure	NOUN
app01-3928	51	26	,	,	PUNCT
app01-3928	51	27	while	while	SCONJ
app01-3928	51	28	interaction	interaction	NOUN
app01-3928	51	29	between	between	ADP
app01-3928	51	30	team	team	NOUN
app01-3928	51	31	members	member	NOUN
app01-3928	51	32	is	be	AUX
app01-3928	51	33	done	do	VERB
app01-3928	51	34	by	by	ADP
app01-3928	51	35	a	a	DET
app01-3928	51	36	routing	routing	NOUN
app01-3928	51	37	protocol	protocol	NOUN
app01-3928	51	38	.	.	PUNCT
app01-3928	52	1	operation	operation	NOUN
app01-3928	52	2	efficient	efficient	ADJ
app01-3928	52	3	of	of	ADP
app01-3928	52	4	a	a	DET
app01-3928	52	5	distributed	distribute	VERB
app01-3928	52	6	robotic	robotic	ADJ
app01-3928	52	7	system	system	NOUN
app01-3928	52	8	requests	request	VERB
app01-3928	52	9	a	a	DET
app01-3928	52	10	routing	routing	NOUN
app01-3928	52	11	protocol	protocol	NOUN
app01-3928	52	12	to	to	PART
app01-3928	52	13	meet	meet	VERB
app01-3928	52	14	certain	certain	ADJ
app01-3928	52	15	requirements	requirement	NOUN
app01-3928	52	16	.	.	PUNCT
app01-3928	53	1	the	the	DET
app01-3928	53	2	key	key	ADJ
app01-3928	53	3	assumption	assumption	NOUN
app01-3928	53	4	is	be	AUX
app01-3928	53	5	fully	fully	ADV
app01-3928	53	6	distributed	distribute	VERB
app01-3928	53	7	operations	operation	NOUN
app01-3928	53	8	and	and	CCONJ
app01-3928	53	9	the	the	DET
app01-3928	53	10	protocol	protocol	NOUN
app01-3928	53	11	should	should	AUX
app01-3928	53	12	not	not	PART
app01-3928	53	13	depend	depend	VERB
app01-3928	53	14	on	on	ADP
app01-3928	53	15	a	a	DET
app01-3928	53	16	central	central	ADJ
app01-3928	53	17	control	control	NOUN
app01-3928	53	18	node	node	NOUN
app01-3928	53	19	.	.	PUNCT
app01-3928	54	1	due	due	ADP
app01-3928	54	2	to	to	ADP
app01-3928	54	3	high	high	ADJ
app01-3928	54	4	mobility	mobility	NOUN
app01-3928	54	5	of	of	ADP
app01-3928	54	6	the	the	DET
app01-3928	54	7	nodes	node	NOUN
app01-3928	54	8	,	,	PUNCT
app01-3928	54	9	the	the	DET
app01-3928	54	10	protocol	protocol	NOUN
app01-3928	54	11	should	should	AUX
app01-3928	54	12	easily	easily	ADV
app01-3928	54	13	adapt	adapt	VERB
app01-3928	54	14	to	to	ADP
app01-3928	54	15	changes	change	NOUN
app01-3928	54	16	in	in	ADP
app01-3928	54	17	network	network	NOUN
app01-3928	54	18	topology	topology	NOUN
app01-3928	54	19	caused	cause	VERB
app01-3928	54	20	by	by	ADP
app01-3928	54	21	movement	movement	NOUN
app01-3928	54	22	of	of	ADP
app01-3928	54	23	nodes	node	NOUN
app01-3928	54	24	.	.	PUNCT
app01-3928	55	1	it	it	PRON
app01-3928	55	2	also	also	ADV
app01-3928	55	3	needs	need	VERB
app01-3928	55	4	to	to	PART
app01-3928	55	5	be	be	AUX
app01-3928	55	6	localized	localize	VERB
app01-3928	55	7	,	,	PUNCT
app01-3928	55	8	since	since	SCONJ
app01-3928	55	9	global	global	ADJ
app01-3928	55	10	exchange	exchange	NOUN
app01-3928	55	11	of	of	ADP
app01-3928	55	12	routing	route	VERB
app01-3928	55	13	information	information	NOUN
app01-3928	55	14	will	will	AUX
app01-3928	55	15	require	require	VERB
app01-3928	55	16	large	large	ADJ
app01-3928	55	17	overheads	overhead	NOUN
app01-3928	55	18	[	[	X
app01-3928	55	19	18	18	NUM
app01-3928	55	20	]	]	PUNCT
app01-3928	55	21	.	.	PUNCT
app01-3928	56	1	an	an	DET
app01-3928	56	2	important	important	ADJ
app01-3928	56	3	requirement	requirement	NOUN
app01-3928	56	4	is	be	AUX
app01-3928	56	5	the	the	DET
app01-3928	56	6	absence	absence	NOUN
app01-3928	56	7	of	of	ADP
app01-3928	56	8	routing	routing	NOUN
app01-3928	56	9	loops	loop	NOUN
app01-3928	56	10	.	.	PUNCT
app01-3928	57	1	a	a	DET
app01-3928	57	2	routing	routing	NOUN
app01-3928	57	3	loop	loop	NOUN
app01-3928	57	4	occurs	occur	VERB
app01-3928	57	5	when	when	SCONJ
app01-3928	57	6	the	the	DET
app01-3928	57	7	packets	packet	NOUN
app01-3928	57	8	continue	continue	VERB
app01-3928	57	9	to	to	PART
app01-3928	57	10	be	be	AUX
app01-3928	57	11	routed	route	VERB
app01-3928	57	12	in	in	ADP
app01-3928	57	13	an	an	DET
app01-3928	57	14	endless	endless	ADJ
app01-3928	57	15	circle	circle	NOUN
app01-3928	57	16	of	of	ADP
app01-3928	57	17	the	the	DET
app01-3928	57	18	nodes	node	NOUN
app01-3928	57	19	.	.	PUNCT
app01-3928	58	1	the	the	DET
app01-3928	58	2	protocol	protocol	NOUN
app01-3928	58	3	should	should	AUX
app01-3928	58	4	not	not	PART
app01-3928	58	5	contain	contain	VERB
app01-3928	58	6	them	they	PRON
app01-3928	58	7	,	,	PUNCT
app01-3928	58	8	otherwise	otherwise	ADV
app01-3928	58	9	the	the	DET
app01-3928	58	10	overall	overall	ADJ
app01-3928	58	11	efficiency	efficiency	NOUN
app01-3928	58	12	is	be	AUX
app01-3928	58	13	reduced	reduce	VERB
app01-3928	58	14	,	,	PUNCT
app01-3928	58	15	the	the	DET
app01-3928	58	16	routing	routing	NOUN
app01-3928	58	17	loop	loop	NOUN
app01-3928	58	18	will	will	AUX
app01-3928	58	19	spend	spend	VERB
app01-3928	58	20	more	more	ADJ
app01-3928	58	21	bandwidth	bandwidth	ADJ
app01-3928	58	22	and	and	CCONJ
app01-3928	58	23	more	more	ADJ
app01-3928	58	24	computing	computing	NOUN
app01-3928	58	25	power	power	NOUN
app01-3928	58	26	of	of	ADP
app01-3928	58	27	each	each	DET
app01-3928	58	28	node	node	NOUN
app01-3928	58	29	in	in	ADP
app01-3928	58	30	this	this	DET
app01-3928	58	31	loop	loop	NOUN
app01-3928	58	32	.	.	PUNCT
app01-3928	59	1	the	the	DET
app01-3928	59	2	protocol	protocol	NOUN
app01-3928	59	3	should	should	AUX
app01-3928	59	4	take	take	VERB
app01-3928	59	5	care	care	NOUN
app01-3928	59	6	about	about	ADP
app01-3928	59	7	saving	save	VERB
app01-3928	59	8	resources	resource	NOUN
app01-3928	59	9	of	of	ADP
app01-3928	59	10	network	network	NOUN
app01-3928	59	11	members	member	NOUN
app01-3928	59	12	.	.	PUNCT
app01-3928	60	1	in	in	ADP
app01-3928	60	2	addition	addition	NOUN
app01-3928	60	3	,	,	PUNCT
app01-3928	60	4	the	the	DET
app01-3928	60	5	protocol	protocol	NOUN
app01-3928	60	6	needs	need	VERB
app01-3928	60	7	to	to	PART
app01-3928	60	8	be	be	AUX
app01-3928	60	9	scalable	scalable	ADJ
app01-3928	60	10	,	,	PUNCT
app01-3928	60	11	this	this	PRON
app01-3928	60	12	means	mean	VERB
app01-3928	60	13	that	that	SCONJ
app01-3928	60	14	its	its	PRON
app01-3928	60	15	effectiveness	effectiveness	NOUN
app01-3928	60	16	should	should	AUX
app01-3928	60	17	not	not	PART
app01-3928	60	18	depend	depend	VERB
app01-3928	60	19	on	on	ADP
app01-3928	60	20	the	the	DET
app01-3928	60	21	number	number	NOUN
app01-3928	60	22	of	of	ADP
app01-3928	60	23	members	member	NOUN
app01-3928	60	24	in	in	ADP
app01-3928	60	25	the	the	DET
app01-3928	60	26	network	network	NOUN
app01-3928	60	27	.	.	PUNCT
app01-3928	61	1	increase	increase	VERB
app01-3928	61	2	or	or	CCONJ
app01-3928	61	3	decrease	decrease	NOUN
app01-3928	61	4	of	of	ADP
app01-3928	61	5	the	the	DET
app01-3928	61	6	network	network	NOUN
app01-3928	61	7	should	should	AUX
app01-3928	61	8	not	not	PART
app01-3928	61	9	affect	affect	VERB
app01-3928	61	10	its	its	PRON
app01-3928	61	11	performance	performance	NOUN
app01-3928	61	12	.	.	PUNCT
app01-3928	62	1	it	it	PRON
app01-3928	62	2	also	also	ADV
app01-3928	62	3	needs	need	VERB
app01-3928	62	4	to	to	PART
app01-3928	62	5	be	be	AUX
app01-3928	62	6	adapted	adapt	VERB
app01-3928	62	7	to	to	ADP
app01-3928	62	8	any	any	DET
app01-3928	62	9	speed	speed	NOUN
app01-3928	62	10	of	of	ADP
app01-3928	62	11	nodes	node	NOUN
app01-3928	62	12	and	and	CCONJ
app01-3928	62	13	any	any	DET
app01-3928	62	14	type	type	NOUN
app01-3928	62	15	of	of	ADP
app01-3928	62	16	their	their	PRON
app01-3928	62	17	movement	movement	NOUN
app01-3928	62	18	.	.	PUNCT
app01-3928	63	1	in	in	ADP
app01-3928	63	2	conditions	condition	NOUN
app01-3928	63	3	of	of	ADP
app01-3928	63	4	high	high	ADJ
app01-3928	63	5	mobility	mobility	NOUN
app01-3928	63	6	the	the	DET
app01-3928	63	7	protocol	protocol	NOUN
app01-3928	63	8	must	must	AUX
app01-3928	63	9	be	be	AUX
app01-3928	63	10	able	able	ADJ
app01-3928	63	11	to	to	PART
app01-3928	63	12	quickly	quickly	ADV
app01-3928	63	13	recalculate	recalculate	VERB
app01-3928	63	14	cost	cost	NOUN
app01-3928	63	15	and	and	CCONJ
app01-3928	63	16	build	build	VERB
app01-3928	63	17	the	the	DET
app01-3928	63	18	path	path	NOUN
app01-3928	63	19	to	to	ADP
app01-3928	63	20	the	the	DET
app01-3928	63	21	destination	destination	NOUN
app01-3928	63	22	which	which	PRON
app01-3928	63	23	will	will	AUX
app01-3928	63	24	include	include	VERB
app01-3928	63	25	the	the	DET
app01-3928	63	26	lowest	low	ADJ
app01-3928	63	27	number	number	NOUN
app01-3928	63	28	of	of	ADP
app01-3928	63	29	other	other	ADJ
app01-3928	63	30	nodes	node	NOUN
app01-3928	63	31	.	.	PUNCT
app01-3928	64	1	while	while	SCONJ
app01-3928	64	2	building	build	VERB
app01-3928	64	3	the	the	DET
app01-3928	64	4	path	path	NOUN
app01-3928	64	5	and	and	CCONJ
app01-3928	64	6	forwarding	forwarding	NOUN
app01-3928	64	7	of	of	ADP
app01-3928	64	8	messages	message	NOUN
app01-3928	64	9	,	,	PUNCT
app01-3928	64	10	it	it	PRON
app01-3928	64	11	is	be	AUX
app01-3928	64	12	necessary	necessary	ADJ
app01-3928	64	13	to	to	PART
app01-3928	64	14	effectively	effectively	ADV
app01-3928	64	15	avoid	avoid	VERB
app01-3928	64	16	outdated	outdated	ADJ
app01-3928	64	17	routes	route	NOUN
app01-3928	64	18	[	[	X
app01-3928	64	19	19	19	NUM
app01-3928	64	20	]	]	PUNCT
app01-3928	64	21	.	.	PUNCT
app01-3928	65	1	the	the	DET
app01-3928	65	2	rest	rest	NOUN
app01-3928	65	3	of	of	ADP
app01-3928	65	4	the	the	DET
app01-3928	65	5	section	section	NOUN
app01-3928	65	6	contains	contain	VERB
app01-3928	65	7	a	a	DET
app01-3928	65	8	brief	brief	ADJ
app01-3928	65	9	description	description	NOUN
app01-3928	65	10	of	of	ADP
app01-3928	65	11	few	few	ADJ
app01-3928	65	12	most	most	ADV
app01-3928	65	13	commonly	commonly	ADV
app01-3928	65	14	used	use	VERB
app01-3928	65	15	routing	routing	NOUN
app01-3928	65	16	protocols	protocol	NOUN
app01-3928	65	17	and	and	CCONJ
app01-3928	65	18	their	their	PRON
app01-3928	65	19	comparison	comparison	NOUN
app01-3928	65	20	based	base	VERB
app01-3928	65	21	on	on	ADP
app01-3928	65	22	the	the	DET
app01-3928	65	23	above	above	ADJ
app01-3928	65	24	requirements	requirement	NOUN
app01-3928	65	25	.	.	PUNCT
app01-3928	66	1	the	the	DET
app01-3928	66	2	main	main	ADJ
app01-3928	66	3	purpose	purpose	NOUN
app01-3928	66	4	of	of	ADP
app01-3928	66	5	this	this	DET
app01-3928	66	6	comparison	comparison	NOUN
app01-3928	66	7	is	be	AUX
app01-3928	66	8	to	to	PART
app01-3928	66	9	select	select	VERB
app01-3928	66	10	the	the	DET
app01-3928	66	11	routing	routing	NOUN
app01-3928	66	12	protocol	protocol	NOUN
app01-3928	66	13	that	that	PRON
app01-3928	66	14	is	be	AUX
app01-3928	66	15	the	the	DET
app01-3928	66	16	most	most	ADV
app01-3928	66	17	suitable	suitable	ADJ
app01-3928	66	18	for	for	ADP
app01-3928	66	19	teams	team	NOUN
app01-3928	66	20	of	of	ADP
app01-3928	66	21	mobile	mobile	ADJ
app01-3928	66	22	robots	robot	NOUN
app01-3928	66	23	which	which	PRON
app01-3928	66	24	establish	establish	VERB
app01-3928	66	25	a	a	DET
app01-3928	66	26	wireless	wireless	ADJ
app01-3928	66	27	mobile	mobile	ADJ
app01-3928	66	28	ad	ad	NOUN
app01-3928	66	29	hoc	hoc	X
app01-3928	66	30	network	network	NOUN
app01-3928	66	31	(	(	PUNCT
app01-3928	66	32	manet	manet	NOUN
app01-3928	66	33	)	)	PUNCT
app01-3928	66	34	without	without	ADP
app01-3928	66	35	any	any	DET
app01-3928	66	36	centralized	centralized	ADJ
app01-3928	66	37	structure	structure	NOUN
app01-3928	66	38	.	.	PUNCT
app01-3928	67	1	the	the	DET
app01-3928	67	2	routing	route	VERB
app01-3928	67	3	protocols	protocol	NOUN
app01-3928	67	4	can	can	AUX
app01-3928	67	5	be	be	AUX
app01-3928	67	6	divided	divide	VERB
app01-3928	67	7	into	into	ADP
app01-3928	67	8	proactive	proactive	ADJ
app01-3928	67	9	(	(	PUNCT
app01-3928	67	10	table	table	NOUN
app01-3928	67	11	-	-	PUNCT
app01-3928	67	12	driven	drive	VERB
app01-3928	67	13	)	)	PUNCT
app01-3928	67	14	,	,	PUNCT
app01-3928	67	15	reactive	reactive	NOUN
app01-3928	67	16	(	(	PUNCT
app01-3928	67	17	on	on	ADP
app01-3928	67	18	-	-	PUNCT
app01-3928	67	19	demand	demand	NOUN
app01-3928	67	20	)	)	PUNCT
app01-3928	67	21	and	and	CCONJ
app01-3928	67	22	hybrid	hybrid	NOUN
app01-3928	67	23	,	,	PUNCT
app01-3928	67	24	which	which	PRON
app01-3928	67	25	combines	combine	VERB
app01-3928	67	26	advantages	advantage	NOUN
app01-3928	67	27	of	of	ADP
app01-3928	67	28	the	the	DET
app01-3928	67	29	first	first	ADJ
app01-3928	67	30	two	two	NUM
app01-3928	67	31	categories	category	NOUN
app01-3928	67	32	.	.	PUNCT
app01-3928	68	1	2.1	2.1	NUM
app01-3928	68	2	.	.	PUNCT
app01-3928	68	3	proactive	proactive	ADJ
app01-3928	68	4	routing	route	VERB
app01-3928	68	5	protocols	protocol	NOUN
app01-3928	68	6	table	table	NOUN
app01-3928	68	7	-	-	PUNCT
app01-3928	68	8	driven	drive	VERB
app01-3928	68	9	protocols	protocol	NOUN
app01-3928	68	10	constantly	constantly	ADV
app01-3928	68	11	maintain	maintain	VERB
app01-3928	68	12	the	the	DET
app01-3928	68	13	relevance	relevance	NOUN
app01-3928	68	14	of	of	ADP
app01-3928	68	15	the	the	DET
app01-3928	68	16	routes	route	NOUN
app01-3928	68	17	between	between	ADP
app01-3928	68	18	sources	source	NOUN
app01-3928	68	19	and	and	CCONJ
app01-3928	68	20	destinations	destination	NOUN
app01-3928	68	21	.	.	PUNCT
app01-3928	69	1	to	to	PART
app01-3928	69	2	maintain	maintain	VERB
app01-3928	69	3	a	a	DET
app01-3928	69	4	correct	correct	ADJ
app01-3928	69	5	view	view	NOUN
app01-3928	69	6	of	of	ADP
app01-3928	69	7	the	the	DET
app01-3928	69	8	network	network	NOUN
app01-3928	69	9	topology	topology	NOUN
app01-3928	69	10	a	a	DET
app01-3928	69	11	protocol	protocol	NOUN
app01-3928	69	12	of	of	ADP
app01-3928	69	13	this	this	DET
app01-3928	69	14	type	type	NOUN
app01-3928	69	15	responds	respond	VERB
app01-3928	69	16	to	to	ADP
app01-3928	69	17	every	every	DET
app01-3928	69	18	change	change	NOUN
app01-3928	69	19	in	in	ADP
app01-3928	69	20	the	the	DET
app01-3928	69	21	structure	structure	NOUN
app01-3928	69	22	by	by	ADP
app01-3928	69	23	sending	send	VERB
app01-3928	69	24	changes	change	NOUN
app01-3928	69	25	across	across	ADP
app01-3928	69	26	the	the	DET
app01-3928	69	27	entire	entire	ADJ
app01-3928	69	28	network	network	NOUN
app01-3928	69	29	.	.	PUNCT
app01-3928	70	1	moreover	moreover	ADV
app01-3928	70	2	,	,	PUNCT
app01-3928	70	3	the	the	DET
app01-3928	70	4	protocol	protocol	NOUN
app01-3928	70	5	periodically	periodically	ADV
app01-3928	70	6	sends	send	VERB
app01-3928	70	7	route	route	NOUN
app01-3928	70	8	update	update	VERB
app01-3928	70	9	messages	message	NOUN
app01-3928	70	10	to	to	ADP
app01-3928	70	11	its	its	PRON
app01-3928	70	12	neighbours	neighbour	NOUN
app01-3928	70	13	.	.	PUNCT
app01-3928	71	1	these	these	DET
app01-3928	71	2	protocols	protocol	NOUN
app01-3928	71	3	require	require	VERB
app01-3928	71	4	to	to	PART
app01-3928	71	5	store	store	VERB
app01-3928	71	6	routing	routing	NOUN
app01-3928	71	7	information	information	NOUN
app01-3928	71	8	in	in	ADP
app01-3928	71	9	one	one	NUM
app01-3928	71	10	or	or	CCONJ
app01-3928	71	11	more	more	ADJ
app01-3928	71	12	tables	table	NOUN
app01-3928	71	13	in	in	ADP
app01-3928	71	14	each	each	DET
app01-3928	71	15	node	node	NOUN
app01-3928	71	16	[	[	X
app01-3928	71	17	20	20	NUM
app01-3928	71	18	]	]	PUNCT
app01-3928	71	19	.	.	PUNCT
app01-3928	72	1	these	these	DET
app01-3928	72	2	protocols	protocol	NOUN
app01-3928	72	3	do	do	AUX
app01-3928	72	4	not	not	PART
app01-3928	72	5	scale	scale	VERB
app01-3928	72	6	well	well	ADV
app01-3928	72	7	and	and	CCONJ
app01-3928	72	8	control	control	NOUN
app01-3928	72	9	overheads	overhead	NOUN
app01-3928	72	10	are	be	AUX
app01-3928	72	11	proportional	proportional	ADJ
app01-3928	72	12	to	to	ADP
app01-3928	72	13	the	the	DET
app01-3928	72	14	number	number	NOUN
app01-3928	72	15	of	of	ADP
app01-3928	72	16	nodes	node	NOUN
app01-3928	72	17	in	in	ADP
app01-3928	72	18	the	the	DET
app01-3928	72	19	network	network	NOUN
app01-3928	72	20	.	.	PUNCT
app01-3928	73	1	destination	destination	NOUN
app01-3928	73	2	sequenced	sequence	VERB
app01-3928	73	3	distance	distance	NOUN
app01-3928	73	4	vector	vector	NOUN
app01-3928	73	5	(	(	PUNCT
app01-3928	73	6	dsdv	dsdv	NOUN
app01-3928	73	7	)	)	PUNCT
app01-3928	74	1	[	[	X
app01-3928	74	2	21	21	NUM
app01-3928	74	3	]	]	X
app01-3928	74	4	is	be	AUX
app01-3928	74	5	one	one	NUM
app01-3928	74	6	of	of	ADP
app01-3928	74	7	table	table	NOUN
app01-3928	74	8	-	-	PUNCT
app01-3928	74	9	driven	drive	VERB
app01-3928	74	10	protocols	protocol	NOUN
app01-3928	74	11	and	and	CCONJ
app01-3928	74	12	it	it	PRON
app01-3928	74	13	is	be	AUX
app01-3928	74	14	a	a	DET
app01-3928	74	15	loop	loop	NOUN
app01-3928	74	16	-	-	PUNCT
app01-3928	74	17	free	free	ADJ
app01-3928	74	18	modification	modification	NOUN
app01-3928	74	19	of	of	ADP
app01-3928	74	20	the	the	DET
app01-3928	74	21	bellmanford	bellmanford	NOUN
app01-3928	74	22	routing	route	VERB
app01-3928	74	23	algorithm	algorithm	NOUN
app01-3928	75	1	[	[	X
app01-3928	75	2	22	22	NUM
app01-3928	75	3	]	]	PUNCT
app01-3928	75	4	.	.	PUNCT
app01-3928	76	1	each	each	DET
app01-3928	76	2	node	node	NOUN
app01-3928	76	3	maintains	maintain	VERB
app01-3928	76	4	a	a	DET
app01-3928	76	5	routing	routing	NOUN
app01-3928	76	6	table	table	NOUN
app01-3928	76	7	that	that	PRON
app01-3928	76	8	contains	contain	VERB
app01-3928	76	9	entries	entry	NOUN
app01-3928	76	10	for	for	ADP
app01-3928	76	11	the	the	DET
app01-3928	76	12	next	next	ADJ
app01-3928	76	13	hop	hop	NOUN
app01-3928	76	14	on	on	ADP
app01-3928	76	15	the	the	DET
app01-3928	76	16	shortest	short	ADJ
app01-3928	76	17	path	path	NOUN
app01-3928	76	18	to	to	ADP
app01-3928	76	19	all	all	DET
app01-3928	76	20	reachable	reachable	ADJ
app01-3928	76	21	destinations	destination	NOUN
app01-3928	76	22	.	.	PUNCT
app01-3928	77	1	the	the	DET
app01-3928	77	2	protocol	protocol	NOUN
app01-3928	77	3	uses	use	VERB
app01-3928	77	4	a	a	DET
app01-3928	77	5	sequence	sequence	NOUN
app01-3928	77	6	number	number	NOUN
app01-3928	77	7	attribute	attribute	NOUN
app01-3928	77	8	to	to	PART
app01-3928	77	9	ensure	ensure	VERB
app01-3928	77	10	the	the	DET
app01-3928	77	11	freedom	freedom	NOUN
app01-3928	77	12	of	of	ADP
app01-3928	77	13	cycles	cycle	NOUN
app01-3928	77	14	and	and	CCONJ
app01-3928	77	15	to	to	PART
app01-3928	77	16	distinguish	distinguish	VERB
app01-3928	77	17	stale	stale	ADJ
app01-3928	77	18	routes	route	NOUN
app01-3928	77	19	.	.	PUNCT
app01-3928	78	1	dsdv	dsdv	PROPN
app01-3928	78	2	uses	use	VERB
app01-3928	78	3	two	two	NUM
app01-3928	78	4	types	type	NOUN
app01-3928	78	5	of	of	ADP
app01-3928	78	6	dumps	dump	NOUN
app01-3928	78	7	with	with	ADP
app01-3928	78	8	updates	update	NOUN
app01-3928	78	9	of	of	ADP
app01-3928	78	10	the	the	DET
app01-3928	78	11	routing	routing	NOUN
app01-3928	78	12	table	table	NOUN
app01-3928	78	13	which	which	PRON
app01-3928	78	14	sends	send	VERB
app01-3928	78	15	to	to	ADP
app01-3928	78	16	all	all	DET
app01-3928	78	17	immediate	immediate	ADJ
app01-3928	78	18	neighbours	neighbour	NOUN
app01-3928	78	19	.	.	PUNCT
app01-3928	79	1	the	the	DET
app01-3928	79	2	first	first	ADJ
app01-3928	79	3	type	type	NOUN
app01-3928	79	4	is	be	AUX
app01-3928	79	5	periodically	periodically	ADV
app01-3928	79	6	sent	send	VERB
app01-3928	79	7	full	full	ADJ
app01-3928	79	8	dump	dump	NOUN
app01-3928	79	9	which	which	PRON
app01-3928	79	10	contains	contain	VERB
app01-3928	79	11	all	all	DET
app01-3928	79	12	available	available	ADJ
app01-3928	79	13	information	information	NOUN
app01-3928	79	14	about	about	ADP
app01-3928	79	15	the	the	DET
app01-3928	79	16	routing	routing	NOUN
app01-3928	79	17	information	information	NOUN
app01-3928	79	18	.	.	PUNCT
app01-3928	80	1	the	the	DET
app01-3928	80	2	second	second	ADJ
app01-3928	80	3	type	type	NOUN
app01-3928	80	4	is	be	AUX
app01-3928	80	5	an	an	DET
app01-3928	80	6	immediately	immediately	ADV
app01-3928	80	7	sent	send	VERB
app01-3928	80	8	incremental	incremental	ADJ
app01-3928	80	9	dump	dump	NOUN
app01-3928	80	10	which	which	PRON
app01-3928	80	11	sends	send	VERB
app01-3928	80	12	on	on	ADP
app01-3928	80	13	route	route	NOUN
app01-3928	80	14	changes	change	NOUN
app01-3928	80	15	and	and	CCONJ
app01-3928	80	16	contains	contain	VERB
app01-3928	80	17	only	only	ADV
app01-3928	80	18	changes	change	NOUN
app01-3928	80	19	that	that	PRON
app01-3928	80	20	have	have	AUX
app01-3928	80	21	occurred	occur	VERB
app01-3928	80	22	since	since	SCONJ
app01-3928	80	23	the	the	DET
app01-3928	80	24	last	last	ADJ
app01-3928	80	25	full	full	ADJ
app01-3928	80	26	dump	dump	NOUN
app01-3928	80	27	.	.	PUNCT
app01-3928	81	1	another	another	DET
app01-3928	81	2	proactive	proactive	ADJ
app01-3928	81	3	protocol	protocol	NOUN
app01-3928	81	4	is	be	AUX
app01-3928	81	5	optimized	optimize	VERB
app01-3928	81	6	link	link	NOUN
app01-3928	81	7	state	state	NOUN
app01-3928	81	8	routing	routing	NOUN
app01-3928	81	9	(	(	PUNCT
app01-3928	81	10	olsr	olsr	PROPN
app01-3928	81	11	)	)	PUNCT
app01-3928	82	1	[	[	X
app01-3928	82	2	15	15	NUM
app01-3928	82	3	]	]	X
app01-3928	82	4	protocol	protocol	NOUN
app01-3928	82	5	,	,	PUNCT
app01-3928	82	6	which	which	PRON
app01-3928	82	7	is	be	AUX
app01-3928	82	8	based	base	VERB
app01-3928	82	9	on	on	ADP
app01-3928	82	10	basic	basic	ADJ
app01-3928	82	11	link	link	NOUN
app01-3928	82	12	-	-	PUNCT
app01-3928	82	13	state	state	NOUN
app01-3928	82	14	algorithm	algorithm	NOUN
app01-3928	82	15	.	.	PUNCT
app01-3928	83	1	every	every	DET
app01-3928	83	2	node	node	NOUN
app01-3928	83	3	maintains	maintain	VERB
app01-3928	83	4	a	a	DET
app01-3928	83	5	network	network	NOUN
app01-3928	83	6	topology	topology	NOUN
app01-3928	83	7	graph	graph	NOUN
app01-3928	83	8	.	.	PUNCT
app01-3928	84	1	each	each	DET
app01-3928	84	2	node	node	NOUN
app01-3928	84	3	has	have	VERB
app01-3928	84	4	thus	thus	ADV
app01-3928	84	5	shorter	short	ADJ
app01-3928	84	6	routes	route	NOUN
app01-3928	84	7	to	to	ADP
app01-3928	84	8	every	every	DET
app01-3928	84	9	destination	destination	NOUN
app01-3928	84	10	immediately	immediately	ADV
app01-3928	84	11	,	,	PUNCT
app01-3928	84	12	when	when	SCONJ
app01-3928	84	13	data	datum	NOUN
app01-3928	84	14	transmission	transmission	NOUN
app01-3928	84	15	begins	begin	VERB
app01-3928	84	16	.	.	PUNCT
app01-3928	85	1	to	to	PART
app01-3928	85	2	keep	keep	VERB
app01-3928	85	3	the	the	DET
app01-3928	85	4	relevance	relevance	NOUN
app01-3928	85	5	of	of	ADP
app01-3928	85	6	the	the	DET
app01-3928	85	7	topology	topology	NOUN
app01-3928	85	8	a	a	DET
app01-3928	85	9	node	node	NOUN
app01-3928	85	10	periodically	periodically	ADV
app01-3928	85	11	floods	flood	NOUN
app01-3928	85	12	hello	hello	ADP
app01-3928	85	13	messages	message	NOUN
app01-3928	85	14	about	about	ADP
app01-3928	85	15	its	its	PRON
app01-3928	85	16	available	available	ADJ
app01-3928	85	17	links	link	NOUN
app01-3928	85	18	to	to	ADP
app01-3928	85	19	the	the	DET
app01-3928	85	20	others	other	NOUN
app01-3928	85	21	.	.	PUNCT
app01-3928	86	1	olsr	olsr	NOUN
app01-3928	86	2	uses	use	VERB
app01-3928	86	3	also	also	ADV
app01-3928	86	4	topology	topology	NOUN
app01-3928	86	5	control	control	NOUN
app01-3928	86	6	(	(	PUNCT
app01-3928	86	7	tc	tc	NOUN
app01-3928	86	8	)	)	PUNCT
app01-3928	86	9	messages	message	NOUN
app01-3928	86	10	that	that	PRON
app01-3928	86	11	contain	contain	VERB
app01-3928	86	12	information	information	NOUN
app01-3928	86	13	about	about	ADP
app01-3928	86	14	one	one	NUM
app01-3928	86	15	-	-	PUNCT
app01-3928	86	16	hop	hop	NOUN
app01-3928	86	17	neighbours	neighbour	NOUN
app01-3928	86	18	.	.	PUNCT
app01-3928	87	1	the	the	DET
app01-3928	87	2	main	main	ADJ
app01-3928	87	3	optimization	optimization	NOUN
app01-3928	87	4	lies	lie	VERB
app01-3928	87	5	in	in	ADP
app01-3928	87	6	using	using	NOUN
app01-3928	87	7	of	of	ADP
app01-3928	87	8	multipoint	multipoint	NOUN
app01-3928	87	9	relays	relay	NOUN
app01-3928	87	10	(	(	PUNCT
app01-3928	87	11	mprs	mprs	NOUN
app01-3928	87	12	)	)	PUNCT
app01-3928	87	13	.	.	PUNCT
app01-3928	88	1	it	it	PRON
app01-3928	88	2	reduces	reduce	VERB
app01-3928	88	3	message	message	NOUN
app01-3928	88	4	overhead	overhead	ADV
app01-3928	88	5	,	,	PUNCT
app01-3928	88	6	because	because	SCONJ
app01-3928	88	7	only	only	ADV
app01-3928	88	8	nodes	node	NOUN
app01-3928	88	9	which	which	PRON
app01-3928	88	10	were	be	AUX
app01-3928	88	11	chosen	choose	VERB
app01-3928	88	12	as	as	ADP
app01-3928	88	13	mprs	mprs	NOUN
app01-3928	88	14	forward	forward	ADV
app01-3928	88	15	broadcast	broadcast	VERB
app01-3928	88	16	messages	message	NOUN
app01-3928	88	17	during	during	ADP
app01-3928	88	18	the	the	DET
app01-3928	88	19	flooding	flooding	NOUN
app01-3928	88	20	process	process	NOUN
app01-3928	88	21	.	.	PUNCT
app01-3928	89	1	2.2	2.2	NUM
app01-3928	89	2	.	.	PUNCT
app01-3928	89	3	reactive	reactive	ADJ
app01-3928	89	4	routing	routing	NOUN
app01-3928	89	5	protocols	protocols	PROPN
app01-3928	89	6	reactive	reactive	ADJ
app01-3928	89	7	protocols	protocol	NOUN
app01-3928	89	8	perform	perform	VERB
app01-3928	89	9	the	the	DET
app01-3928	89	10	process	process	NOUN
app01-3928	89	11	of	of	ADP
app01-3928	89	12	route	route	NOUN
app01-3928	89	13	discovery	discovery	NOUN
app01-3928	89	14	only	only	ADV
app01-3928	89	15	on	on	ADP
app01-3928	89	16	request	request	NOUN
app01-3928	89	17	.	.	PUNCT
app01-3928	90	1	the	the	DET
app01-3928	90	2	source	source	NOUN
app01-3928	90	3	floods	flood	VERB
app01-3928	90	4	the	the	DET
app01-3928	90	5	network	network	NOUN
app01-3928	90	6	with	with	ADP
app01-3928	90	7	route	route	NOUN
app01-3928	90	8	query	query	NOUN
app01-3928	90	9	requests	request	NOUN
app01-3928	90	10	when	when	SCONJ
app01-3928	90	11	a	a	DET
app01-3928	90	12	packet	packet	NOUN
app01-3928	90	13	needs	need	VERB
app01-3928	90	14	to	to	PART
app01-3928	90	15	be	be	AUX
app01-3928	90	16	routed	route	VERB
app01-3928	90	17	using	use	VERB
app01-3928	90	18	distance	distance	NOUN
app01-3928	90	19	vector	vector	NOUN
app01-3928	90	20	routing	routing	NOUN
app01-3928	90	21	or	or	CCONJ
app01-3928	90	22	source	source	NOUN
app01-3928	90	23	routing	routing	NOUN
app01-3928	90	24	.	.	PUNCT
app01-3928	91	1	the	the	DET
app01-3928	91	2	problem	problem	NOUN
app01-3928	91	3	of	of	ADP
app01-3928	91	4	reactive	reactive	ADJ
app01-3928	91	5	protocols	protocol	NOUN
app01-3928	91	6	is	be	AUX
app01-3928	91	7	the	the	DET
app01-3928	91	8	delay	delay	NOUN
app01-3928	91	9	of	of	ADP
app01-3928	91	10	packet	packet	NOUN
app01-3928	91	11	transmission	transmission	NOUN
app01-3928	91	12	during	during	ADP
app01-3928	91	13	the	the	DET
app01-3928	91	14	route	route	NOUN
app01-3928	91	15	discovery	discovery	NOUN
app01-3928	91	16	.	.	PUNCT
app01-3928	92	1	on	on	ADP
app01-3928	92	2	the	the	DET
app01-3928	92	3	other	other	ADJ
app01-3928	92	4	side	side	NOUN
app01-3928	92	5	,	,	PUNCT
app01-3928	92	6	the	the	DET
app01-3928	92	7	route	route	NOUN
app01-3928	92	8	is	be	AUX
app01-3928	92	9	discovered	discover	VERB
app01-3928	92	10	only	only	ADV
app01-3928	92	11	when	when	SCONJ
app01-3928	92	12	needed	need	VERB
app01-3928	92	13	,	,	PUNCT
app01-3928	92	14	i.e.	i.e.	X
app01-3928	92	15	,	,	PUNCT
app01-3928	92	16	it	it	PRON
app01-3928	92	17	is	be	AUX
app01-3928	92	18	generally	generally	ADV
app01-3928	92	19	less	less	ADJ
app01-3928	92	20	memory	memory	NOUN
app01-3928	92	21	demanding	demanding	NOUN
app01-3928	92	22	compared	compare	VERB
app01-3928	92	23	to	to	ADP
app01-3928	92	24	19	19	NUM
app01-3928	92	25	khilda	khilda	NOUN
app01-3928	92	26	slyusar	slyusar	NOUN
app01-3928	92	27	,	,	PUNCT
app01-3928	92	28	miroslav	miroslav	PROPN
app01-3928	92	29	kulich	kulich	PROPN
app01-3928	92	30	acta	acta	PROPN
app01-3928	92	31	polytechnica	polytechnica	PROPN
app01-3928	92	32	ctu	ctu	PROPN
app01-3928	92	33	proceedings	proceeding	NOUN
app01-3928	92	34	proactive	proactive	ADJ
app01-3928	92	35	protocols	protocol	NOUN
app01-3928	92	36	and	and	CCONJ
app01-3928	92	37	requires	require	VERB
app01-3928	92	38	relatively	relatively	ADV
app01-3928	92	39	little	little	ADJ
app01-3928	92	40	control	control	NOUN
app01-3928	92	41	traffic	traffic	NOUN
app01-3928	92	42	overhead	overhead	ADV
app01-3928	92	43	.	.	PUNCT
app01-3928	93	1	dynamic	dynamic	ADJ
app01-3928	93	2	source	source	NOUN
app01-3928	93	3	routing	routing	NOUN
app01-3928	93	4	(	(	PUNCT
app01-3928	93	5	dsr	dsr	PROPN
app01-3928	93	6	)	)	PUNCT
app01-3928	94	1	[	[	X
app01-3928	94	2	23	23	NUM
app01-3928	94	3	]	]	PUNCT
app01-3928	94	4	is	be	AUX
app01-3928	94	5	an	an	DET
app01-3928	94	6	example	example	NOUN
app01-3928	94	7	of	of	ADP
app01-3928	94	8	on	on	ADP
app01-3928	94	9	-	-	PUNCT
app01-3928	94	10	demand	demand	NOUN
app01-3928	94	11	routing	routing	NOUN
app01-3928	94	12	protocols	protocol	NOUN
app01-3928	94	13	.	.	PUNCT
app01-3928	95	1	dsr	dsr	NOUN
app01-3928	95	2	supports	support	VERB
app01-3928	95	3	two	two	NUM
app01-3928	95	4	types	type	NOUN
app01-3928	95	5	of	of	ADP
app01-3928	95	6	operations	operation	NOUN
app01-3928	95	7	:	:	PUNCT
app01-3928	95	8	route	route	NOUN
app01-3928	95	9	discovery	discovery	NOUN
app01-3928	95	10	,	,	PUNCT
app01-3928	95	11	when	when	SCONJ
app01-3928	95	12	the	the	DET
app01-3928	95	13	node	node	NOUN
app01-3928	95	14	is	be	AUX
app01-3928	95	15	required	require	VERB
app01-3928	95	16	to	to	PART
app01-3928	95	17	transfer	transfer	VERB
app01-3928	95	18	the	the	DET
app01-3928	95	19	data	datum	NOUN
app01-3928	95	20	to	to	ADP
app01-3928	95	21	the	the	DET
app01-3928	95	22	destination	destination	NOUN
app01-3928	95	23	with	with	ADP
app01-3928	95	24	an	an	DET
app01-3928	95	25	unknown	unknown	ADJ
app01-3928	95	26	route	route	NOUN
app01-3928	95	27	,	,	PUNCT
app01-3928	95	28	and	and	CCONJ
app01-3928	95	29	route	route	NOUN
app01-3928	95	30	maintenance	maintenance	NOUN
app01-3928	95	31	,	,	PUNCT
app01-3928	95	32	that	that	PRON
app01-3928	95	33	allows	allow	VERB
app01-3928	95	34	to	to	PART
app01-3928	95	35	determine	determine	VERB
app01-3928	95	36	that	that	SCONJ
app01-3928	95	37	the	the	DET
app01-3928	95	38	network	network	NOUN
app01-3928	95	39	topology	topology	NOUN
app01-3928	95	40	is	be	AUX
app01-3928	95	41	changed	change	VERB
app01-3928	95	42	.	.	PUNCT
app01-3928	96	1	after	after	ADP
app01-3928	96	2	the	the	DET
app01-3928	96	3	work	work	NOUN
app01-3928	96	4	of	of	ADP
app01-3928	96	5	these	these	DET
app01-3928	96	6	mechanisms	mechanism	NOUN
app01-3928	96	7	the	the	DET
app01-3928	96	8	sender	sender	NOUN
app01-3928	96	9	knows	know	VERB
app01-3928	96	10	the	the	DET
app01-3928	96	11	complete	complete	ADJ
app01-3928	96	12	hop	hop	NOUN
app01-3928	96	13	-	-	PUNCT
app01-3928	96	14	by	by	ADP
app01-3928	96	15	-	-	PUNCT
app01-3928	96	16	hop	hop	NOUN
app01-3928	96	17	route	route	NOUN
app01-3928	96	18	to	to	ADP
app01-3928	96	19	the	the	DET
app01-3928	96	20	destination	destination	NOUN
app01-3928	96	21	.	.	PUNCT
app01-3928	97	1	all	all	DET
app01-3928	97	2	transmitted	transmit	VERB
app01-3928	97	3	routes	route	NOUN
app01-3928	97	4	stored	store	VERB
app01-3928	97	5	in	in	ADP
app01-3928	97	6	a	a	DET
app01-3928	97	7	route	route	NOUN
app01-3928	97	8	cache	cache	NOUN
app01-3928	97	9	decrease	decrease	VERB
app01-3928	97	10	time	time	NOUN
app01-3928	97	11	of	of	ADP
app01-3928	97	12	route	route	NOUN
app01-3928	97	13	discovery	discovery	NOUN
app01-3928	97	14	.	.	PUNCT
app01-3928	98	1	the	the	DET
app01-3928	98	2	protocol	protocol	NOUN
app01-3928	98	3	allows	allow	VERB
app01-3928	98	4	multiple	multiple	ADJ
app01-3928	98	5	alternative	alternative	ADJ
app01-3928	98	6	routes	route	NOUN
app01-3928	98	7	to	to	ADP
app01-3928	98	8	the	the	DET
app01-3928	98	9	same	same	ADJ
app01-3928	98	10	destination	destination	NOUN
app01-3928	98	11	and	and	CCONJ
app01-3928	98	12	allows	allow	VERB
app01-3928	98	13	each	each	DET
app01-3928	98	14	node	node	NOUN
app01-3928	98	15	to	to	PART
app01-3928	98	16	perform	perform	VERB
app01-3928	98	17	load	load	NOUN
app01-3928	98	18	balancing	balancing	NOUN
app01-3928	98	19	.	.	PUNCT
app01-3928	99	1	another	another	DET
app01-3928	99	2	example	example	NOUN
app01-3928	99	3	of	of	ADP
app01-3928	99	4	reactive	reactive	ADJ
app01-3928	99	5	protocols	protocol	NOUN
app01-3928	99	6	is	be	AUX
app01-3928	99	7	temporally	temporally	ADV
app01-3928	99	8	ordered	order	VERB
app01-3928	99	9	routing	routing	NOUN
app01-3928	99	10	algorithm	algorithm	NOUN
app01-3928	99	11	(	(	PUNCT
app01-3928	99	12	tora	tora	PROPN
app01-3928	99	13	)	)	PUNCT
app01-3928	100	1	[	[	X
app01-3928	100	2	24	24	NUM
app01-3928	100	3	]	]	PUNCT
app01-3928	100	4	based	base	VERB
app01-3928	100	5	on	on	ADP
app01-3928	100	6	the	the	DET
app01-3928	100	7	link	link	NOUN
app01-3928	100	8	-	-	PUNCT
app01-3928	100	9	reversal	reversal	NOUN
app01-3928	100	10	algorithm	algorithm	NOUN
app01-3928	100	11	.	.	PUNCT
app01-3928	101	1	tora	tora	PROPN
app01-3928	101	2	performs	perform	VERB
app01-3928	101	3	three	three	NUM
app01-3928	101	4	functions	function	NOUN
app01-3928	101	5	:	:	PUNCT
app01-3928	101	6	route	route	NOUN
app01-3928	101	7	creation	creation	NOUN
app01-3928	101	8	,	,	PUNCT
app01-3928	101	9	when	when	SCONJ
app01-3928	101	10	a	a	DET
app01-3928	101	11	node	node	NOUN
app01-3928	101	12	uses	use	VERB
app01-3928	101	13	a	a	DET
app01-3928	101	14	height	height	NOUN
app01-3928	101	15	metric	metric	ADJ
app01-3928	101	16	to	to	PART
app01-3928	101	17	establish	establish	VERB
app01-3928	101	18	a	a	DET
app01-3928	101	19	destination	destination	NOUN
app01-3928	101	20	oriented	orient	VERB
app01-3928	101	21	directed	direct	VERB
app01-3928	101	22	acyclic	acyclic	ADJ
app01-3928	101	23	graph	graph	NOUN
app01-3928	101	24	,	,	PUNCT
app01-3928	101	25	route	route	NOUN
app01-3928	101	26	maintenance	maintenance	NOUN
app01-3928	101	27	,	,	PUNCT
app01-3928	101	28	when	when	SCONJ
app01-3928	101	29	a	a	DET
app01-3928	101	30	node	node	NOUN
app01-3928	101	31	reestablishes	reestablish	VERB
app01-3928	101	32	routes	route	NOUN
app01-3928	101	33	due	due	ADJ
app01-3928	101	34	to	to	ADP
app01-3928	101	35	topology	topology	NOUN
app01-3928	101	36	changes	change	NOUN
app01-3928	101	37	and	and	CCONJ
app01-3928	101	38	route	route	NOUN
app01-3928	101	39	erasure	erasure	NOUN
app01-3928	101	40	,	,	PUNCT
app01-3928	101	41	when	when	SCONJ
app01-3928	101	42	it	it	PRON
app01-3928	101	43	is	be	AUX
app01-3928	101	44	necessary	necessary	ADJ
app01-3928	101	45	to	to	PART
app01-3928	101	46	erase	erase	VERB
app01-3928	101	47	invalid	invalid	ADJ
app01-3928	101	48	routes	route	NOUN
app01-3928	101	49	.	.	PUNCT
app01-3928	102	1	the	the	DET
app01-3928	102	2	protocol	protocol	NOUN
app01-3928	102	3	builds	build	VERB
app01-3928	102	4	loop	loop	NOUN
app01-3928	102	5	-	-	PUNCT
app01-3928	102	6	free	free	ADJ
app01-3928	102	7	routes	route	NOUN
app01-3928	102	8	and	and	CCONJ
app01-3928	102	9	provides	provide	VERB
app01-3928	102	10	multiple	multiple	ADJ
app01-3928	102	11	routes	route	NOUN
app01-3928	102	12	to	to	PART
app01-3928	102	13	alleviate	alleviate	VERB
app01-3928	102	14	congestion	congestion	NOUN
app01-3928	102	15	.	.	PUNCT
app01-3928	103	1	however	however	ADV
app01-3928	103	2	,	,	PUNCT
app01-3928	103	3	tora	tora	PROPN
app01-3928	103	4	may	may	AUX
app01-3928	103	5	produce	produce	VERB
app01-3928	103	6	temporary	temporary	ADJ
app01-3928	103	7	invalid	invalid	ADJ
app01-3928	103	8	routes	route	NOUN
app01-3928	103	9	,	,	PUNCT
app01-3928	103	10	as	as	ADV
app01-3928	103	11	well	well	ADV
app01-3928	103	12	as	as	ADP
app01-3928	103	13	the	the	DET
app01-3928	103	14	light	light	ADJ
app01-3928	103	15	-	-	PUNCT
app01-3928	103	16	weight	weight	NOUN
app01-3928	103	17	mobile	mobile	NOUN
app01-3928	103	18	routing	routing	NOUN
app01-3928	103	19	protocol	protocol	NOUN
app01-3928	104	1	[	[	X
app01-3928	104	2	25	25	NUM
app01-3928	104	3	]	]	PUNCT
app01-3928	104	4	which	which	PRON
app01-3928	104	5	it	it	PRON
app01-3928	104	6	is	be	AUX
app01-3928	104	7	based	base	VERB
app01-3928	104	8	on	on	ADP
app01-3928	104	9	.	.	PROPN
app01-3928	105	1	2.3	2.3	NUM
app01-3928	105	2	.	.	PUNCT
app01-3928	105	3	hybrid	hybrid	ADJ
app01-3928	105	4	routing	routing	NOUN
app01-3928	105	5	protocols	protocol	NOUN
app01-3928	105	6	hybrid	hybrid	ADJ
app01-3928	105	7	protocols	protocol	NOUN
app01-3928	105	8	typically	typically	ADV
app01-3928	105	9	try	try	VERB
app01-3928	105	10	to	to	PART
app01-3928	105	11	reduce	reduce	VERB
app01-3928	105	12	delay	delay	NOUN
app01-3928	105	13	of	of	ADP
app01-3928	105	14	route	route	NOUN
app01-3928	105	15	discovery	discovery	PROPN
app01-3928	105	16	from	from	ADP
app01-3928	105	17	reactive	reactive	ADJ
app01-3928	105	18	systems	system	NOUN
app01-3928	105	19	by	by	ADP
app01-3928	105	20	creating	create	VERB
app01-3928	105	21	some	some	DET
app01-3928	105	22	form	form	NOUN
app01-3928	105	23	of	of	ADP
app01-3928	105	24	routing	route	VERB
app01-3928	105	25	tables	table	NOUN
app01-3928	105	26	and	and	CCONJ
app01-3928	105	27	reduce	reduce	VERB
app01-3928	105	28	control	control	NOUN
app01-3928	105	29	traffic	traffic	NOUN
app01-3928	105	30	overhead	overhead	ADV
app01-3928	105	31	from	from	ADP
app01-3928	105	32	proactive	proactive	ADJ
app01-3928	105	33	systems	system	NOUN
app01-3928	105	34	[	[	X
app01-3928	105	35	20	20	NUM
app01-3928	105	36	]	]	PUNCT
app01-3928	105	37	.	.	PUNCT
app01-3928	106	1	zone	zone	NOUN
app01-3928	106	2	routing	routing	NOUN
app01-3928	106	3	protocol	protocol	NOUN
app01-3928	106	4	(	(	PUNCT
app01-3928	106	5	zrp	zrp	NOUN
app01-3928	106	6	)	)	PUNCT
app01-3928	107	1	[	[	X
app01-3928	107	2	26	26	NUM
app01-3928	107	3	]	]	PUNCT
app01-3928	107	4	is	be	AUX
app01-3928	107	5	a	a	DET
app01-3928	107	6	hybrid	hybrid	ADJ
app01-3928	107	7	protocol	protocol	NOUN
app01-3928	107	8	,	,	PUNCT
app01-3928	107	9	which	which	PRON
app01-3928	107	10	uses	use	VERB
app01-3928	107	11	a	a	DET
app01-3928	107	12	proactive	proactive	ADJ
app01-3928	107	13	approach	approach	NOUN
app01-3928	107	14	to	to	ADP
app01-3928	107	15	a	a	DET
app01-3928	107	16	close	close	ADJ
app01-3928	107	17	neighborhood	neighborhood	NOUN
app01-3928	107	18	and	and	CCONJ
app01-3928	107	19	a	a	DET
app01-3928	107	20	reactive	reactive	ADJ
app01-3928	107	21	approach	approach	NOUN
app01-3928	107	22	to	to	ADP
app01-3928	107	23	remotely	remotely	ADV
app01-3928	107	24	lying	lie	VERB
app01-3928	107	25	nodes	node	NOUN
app01-3928	107	26	of	of	ADP
app01-3928	107	27	the	the	DET
app01-3928	107	28	network	network	NOUN
app01-3928	107	29	.	.	PUNCT
app01-3928	108	1	in	in	ADP
app01-3928	108	2	other	other	ADJ
app01-3928	108	3	words	word	NOUN
app01-3928	108	4	,	,	PUNCT
app01-3928	108	5	each	each	DET
app01-3928	108	6	node	node	NOUN
app01-3928	108	7	divides	divide	VERB
app01-3928	108	8	the	the	DET
app01-3928	108	9	network	network	NOUN
app01-3928	108	10	into	into	ADP
app01-3928	108	11	intrazone	intrazone	NOUN
app01-3928	108	12	and	and	CCONJ
app01-3928	108	13	interzone	interzone	NOUN
app01-3928	108	14	.	.	PUNCT
app01-3928	109	1	the	the	DET
app01-3928	109	2	node	node	NOUN
app01-3928	109	3	immediately	immediately	ADV
app01-3928	109	4	knows	know	VERB
app01-3928	109	5	routes	route	NOUN
app01-3928	109	6	to	to	ADP
app01-3928	109	7	all	all	DET
app01-3928	109	8	nodes	node	NOUN
app01-3928	109	9	within	within	ADP
app01-3928	109	10	the	the	DET
app01-3928	109	11	intrazone	intrazone	NOUN
app01-3928	109	12	.	.	PUNCT
app01-3928	110	1	the	the	DET
app01-3928	110	2	discovery	discovery	NOUN
app01-3928	110	3	of	of	ADP
app01-3928	110	4	such	such	ADJ
app01-3928	110	5	paths	path	NOUN
app01-3928	110	6	is	be	AUX
app01-3928	110	7	produced	produce	VERB
app01-3928	110	8	by	by	ADP
app01-3928	110	9	the	the	DET
app01-3928	110	10	algorithm	algorithm	NOUN
app01-3928	110	11	similar	similar	ADJ
app01-3928	110	12	to	to	ADP
app01-3928	110	13	dsdv	dsdv	NOUN
app01-3928	110	14	.	.	PUNCT
app01-3928	111	1	if	if	SCONJ
app01-3928	111	2	an	an	DET
app01-3928	111	3	initiator	initiator	NOUN
app01-3928	111	4	needs	need	VERB
app01-3928	111	5	to	to	PART
app01-3928	111	6	send	send	VERB
app01-3928	111	7	data	datum	NOUN
app01-3928	111	8	to	to	ADP
app01-3928	111	9	a	a	DET
app01-3928	111	10	recipient	recipient	NOUN
app01-3928	111	11	which	which	PRON
app01-3928	111	12	is	be	AUX
app01-3928	111	13	in	in	ADP
app01-3928	111	14	the	the	DET
app01-3928	111	15	interzone	interzone	NOUN
app01-3928	111	16	the	the	DET
app01-3928	111	17	sender	sender	NOUN
app01-3928	111	18	proactively	proactively	ADV
app01-3928	111	19	maintains	maintain	VERB
app01-3928	111	20	a	a	DET
app01-3928	111	21	route	route	NOUN
app01-3928	111	22	to	to	ADP
app01-3928	111	23	the	the	DET
app01-3928	111	24	destination	destination	NOUN
app01-3928	111	25	.	.	PUNCT
app01-3928	112	1	this	this	DET
app01-3928	112	2	approach	approach	NOUN
app01-3928	112	3	reduces	reduce	VERB
app01-3928	112	4	latency	latency	NOUN
app01-3928	112	5	in	in	ADP
app01-3928	112	6	route	route	NOUN
app01-3928	112	7	discovery	discovery	NOUN
app01-3928	112	8	and	and	CCONJ
app01-3928	112	9	decreases	decrease	VERB
app01-3928	112	10	the	the	DET
app01-3928	112	11	number	number	NOUN
app01-3928	112	12	of	of	ADP
app01-3928	112	13	control	control	NOUN
app01-3928	112	14	messages	message	NOUN
app01-3928	112	15	.	.	PUNCT
app01-3928	113	1	ad	ad	NOUN
app01-3928	113	2	hoc	hoc	X
app01-3928	113	3	on	on	ADP
app01-3928	113	4	-	-	PUNCT
app01-3928	113	5	demand	demand	NOUN
app01-3928	113	6	distance	distance	NOUN
app01-3928	113	7	vector	vector	NOUN
app01-3928	113	8	routing	routing	NOUN
app01-3928	113	9	(	(	PUNCT
app01-3928	113	10	aodv	aodv	NOUN
app01-3928	113	11	)	)	PUNCT
app01-3928	114	1	[	[	X
app01-3928	114	2	27	27	NUM
app01-3928	114	3	]	]	X
app01-3928	114	4	is	be	AUX
app01-3928	114	5	also	also	ADV
app01-3928	114	6	a	a	DET
app01-3928	114	7	hybrid	hybrid	ADJ
app01-3928	114	8	protocol	protocol	NOUN
app01-3928	114	9	based	base	VERB
app01-3928	114	10	on	on	ADP
app01-3928	114	11	the	the	DET
app01-3928	114	12	principles	principle	NOUN
app01-3928	114	13	of	of	ADP
app01-3928	114	14	the	the	DET
app01-3928	114	15	dsdv	dsdv	NOUN
app01-3928	114	16	and	and	CCONJ
app01-3928	114	17	dsr	dsr	PROPN
app01-3928	114	18	protocols	protocol	NOUN
app01-3928	114	19	.	.	PUNCT
app01-3928	115	1	the	the	DET
app01-3928	115	2	protocol	protocol	NOUN
app01-3928	115	3	sends	send	VERB
app01-3928	115	4	a	a	DET
app01-3928	115	5	periodic	periodic	ADJ
app01-3928	115	6	hello	hello	INTJ
app01-3928	115	7	message	message	NOUN
app01-3928	115	8	,	,	PUNCT
app01-3928	115	9	maintains	maintain	VERB
app01-3928	115	10	the	the	DET
app01-3928	115	11	route	route	NOUN
app01-3928	115	12	table	table	NOUN
app01-3928	115	13	with	with	ADP
app01-3928	115	14	a	a	DET
app01-3928	115	15	maximal	maximal	ADJ
app01-3928	115	16	single	single	ADJ
app01-3928	115	17	route	route	NOUN
app01-3928	115	18	for	for	ADP
app01-3928	115	19	each	each	DET
app01-3928	115	20	destination	destination	NOUN
app01-3928	115	21	and	and	CCONJ
app01-3928	115	22	uses	use	VERB
app01-3928	115	23	the	the	DET
app01-3928	115	24	principle	principle	NOUN
app01-3928	115	25	of	of	ADP
app01-3928	115	26	sequence	sequence	NOUN
app01-3928	115	27	numbering	numbering	NOUN
app01-3928	115	28	,	,	PUNCT
app01-3928	115	29	as	as	SCONJ
app01-3928	115	30	dsdv	dsdv	NOUN
app01-3928	115	31	routing	routing	NOUN
app01-3928	115	32	protocol	protocol	NOUN
app01-3928	115	33	does	do	VERB
app01-3928	115	34	.	.	PUNCT
app01-3928	116	1	on	on	ADP
app01-3928	116	2	the	the	DET
app01-3928	116	3	other	other	ADJ
app01-3928	116	4	side	side	NOUN
app01-3928	116	5	,	,	PUNCT
app01-3928	116	6	aodv	aodv	NOUN
app01-3928	116	7	provides	provide	VERB
app01-3928	116	8	a	a	DET
app01-3928	116	9	similar	similar	ADJ
app01-3928	116	10	route	route	NOUN
app01-3928	116	11	discovery	discovery	NOUN
app01-3928	116	12	procedure	procedure	NOUN
app01-3928	116	13	as	as	ADP
app01-3928	116	14	in	in	ADP
app01-3928	116	15	dsr	dsr	NOUN
app01-3928	116	16	.	.	PUNCT
app01-3928	117	1	a	a	DET
app01-3928	117	2	route	route	NOUN
app01-3928	117	3	between	between	ADP
app01-3928	117	4	nodes	node	NOUN
app01-3928	117	5	is	be	AUX
app01-3928	117	6	established	establish	VERB
app01-3928	117	7	only	only	ADV
app01-3928	117	8	if	if	SCONJ
app01-3928	117	9	it	it	PRON
app01-3928	117	10	is	be	AUX
app01-3928	117	11	necessary	necessary	ADJ
app01-3928	117	12	to	to	PART
app01-3928	117	13	send	send	VERB
app01-3928	117	14	the	the	DET
app01-3928	117	15	data	datum	NOUN
app01-3928	117	16	and	and	CCONJ
app01-3928	117	17	there	there	PRON
app01-3928	117	18	is	be	VERB
app01-3928	117	19	no	no	DET
app01-3928	117	20	active	active	ADJ
app01-3928	117	21	route	route	NOUN
app01-3928	117	22	to	to	ADP
app01-3928	117	23	the	the	DET
app01-3928	117	24	destination	destination	NOUN
app01-3928	117	25	,	,	PUNCT
app01-3928	117	26	i.e.	i.e.	X
app01-3928	117	27	,	,	PUNCT
app01-3928	117	28	the	the	DET
app01-3928	117	29	routing	routing	NOUN
app01-3928	117	30	protocol	protocol	NOUN
app01-3928	117	31	reduces	reduce	VERB
app01-3928	117	32	network	network	NOUN
app01-3928	117	33	overhead	overhead	ADV
app01-3928	117	34	as	as	SCONJ
app01-3928	117	35	compared	compare	VERB
app01-3928	117	36	with	with	ADP
app01-3928	117	37	the	the	DET
app01-3928	117	38	dsdv	dsdv	NOUN
app01-3928	117	39	algorithm	algorithm	NOUN
app01-3928	117	40	.	.	PUNCT
app01-3928	118	1	moreover	moreover	ADV
app01-3928	118	2	,	,	PUNCT
app01-3928	118	3	the	the	DET
app01-3928	118	4	route	route	NOUN
app01-3928	118	5	discovery	discovery	NOUN
app01-3928	118	6	packets	packet	NOUN
app01-3928	118	7	do	do	AUX
app01-3928	118	8	not	not	PART
app01-3928	118	9	contain	contain	VERB
app01-3928	118	10	a	a	DET
app01-3928	118	11	complete	complete	ADJ
app01-3928	118	12	sequence	sequence	NOUN
app01-3928	118	13	of	of	ADP
app01-3928	118	14	nodes	node	NOUN
app01-3928	118	15	,	,	PUNCT
app01-3928	118	16	that	that	PRON
app01-3928	118	17	is	be	AUX
app01-3928	118	18	an	an	DET
app01-3928	118	19	advantage	advantage	NOUN
app01-3928	118	20	compared	compare	VERB
app01-3928	118	21	to	to	ADP
app01-3928	118	22	dsr	dsr	PROPN
app01-3928	118	23	.	.	PUNCT
app01-3928	119	1	2.4	2.4	NUM
app01-3928	119	2	.	.	PUNCT
app01-3928	119	3	comparison	comparison	NOUN
app01-3928	119	4	of	of	ADP
app01-3928	119	5	routing	route	VERB
app01-3928	119	6	protocols	protocol	NOUN
app01-3928	119	7	there	there	PRON
app01-3928	119	8	are	be	VERB
app01-3928	119	9	several	several	ADJ
app01-3928	119	10	criteria	criterion	NOUN
app01-3928	119	11	[	[	X
app01-3928	119	12	28	28	NUM
app01-3928	119	13	]	]	PUNCT
app01-3928	119	14	for	for	ADP
app01-3928	119	15	evaluating	evaluate	VERB
app01-3928	119	16	the	the	DET
app01-3928	119	17	performance	performance	NOUN
app01-3928	119	18	of	of	ADP
app01-3928	119	19	a	a	DET
app01-3928	119	20	routing	routing	NOUN
app01-3928	119	21	protocol	protocol	NOUN
app01-3928	119	22	:	:	PUNCT
app01-3928	119	23	•	•	NOUN
app01-3928	119	24	packet	packet	NOUN
app01-3928	119	25	delivery	delivery	NOUN
app01-3928	119	26	fraction	fraction	NOUN
app01-3928	119	27	is	be	AUX
app01-3928	119	28	calculated	calculate	VERB
app01-3928	119	29	as	as	ADP
app01-3928	119	30	the	the	DET
app01-3928	119	31	ratio	ratio	NOUN
app01-3928	119	32	between	between	ADP
app01-3928	119	33	the	the	DET
app01-3928	119	34	number	number	NOUN
app01-3928	119	35	of	of	ADP
app01-3928	119	36	received	receive	VERB
app01-3928	119	37	messages	message	NOUN
app01-3928	119	38	by	by	ADP
app01-3928	119	39	the	the	DET
app01-3928	119	40	destination	destination	NOUN
app01-3928	119	41	to	to	ADP
app01-3928	119	42	the	the	DET
app01-3928	119	43	number	number	NOUN
app01-3928	119	44	of	of	ADP
app01-3928	119	45	messages	message	NOUN
app01-3928	119	46	sent	send	VERB
app01-3928	119	47	by	by	ADP
app01-3928	119	48	the	the	DET
app01-3928	119	49	sender	sender	NOUN
app01-3928	119	50	;	;	PUNCT
app01-3928	119	51	•	•	NUM
app01-3928	119	52	end	end	NOUN
app01-3928	119	53	-	-	PUNCT
app01-3928	119	54	to	to	ADP
app01-3928	119	55	-	-	PUNCT
app01-3928	119	56	end	end	NOUN
app01-3928	119	57	delay	delay	NOUN
app01-3928	119	58	is	be	AUX
app01-3928	119	59	the	the	DET
app01-3928	119	60	average	average	ADJ
app01-3928	119	61	time	time	NOUN
app01-3928	119	62	that	that	PRON
app01-3928	119	63	elapses	elapse	VERB
app01-3928	119	64	between	between	ADP
app01-3928	119	65	the	the	DET
app01-3928	119	66	first	first	ADJ
app01-3928	119	67	packet	packet	NOUN
app01-3928	119	68	which	which	PRON
app01-3928	119	69	was	be	AUX
app01-3928	119	70	transmitted	transmit	VERB
app01-3928	119	71	by	by	ADP
app01-3928	119	72	the	the	DET
app01-3928	119	73	sender	sender	NOUN
app01-3928	119	74	before	before	ADP
app01-3928	119	75	the	the	DET
app01-3928	119	76	first	first	ADJ
app01-3928	119	77	data	data	NOUN
app01-3928	119	78	packet	packet	NOUN
app01-3928	119	79	received	receive	VERB
app01-3928	119	80	by	by	ADP
app01-3928	119	81	the	the	DET
app01-3928	119	82	destination	destination	NOUN
app01-3928	119	83	.	.	PUNCT
app01-3928	120	1	the	the	DET
app01-3928	120	2	metric	metric	NOUN
app01-3928	120	3	includes	include	VERB
app01-3928	120	4	the	the	DET
app01-3928	120	5	time	time	NOUN
app01-3928	120	6	of	of	ADP
app01-3928	120	7	route	route	NOUN
app01-3928	120	8	discovery	discovery	NOUN
app01-3928	120	9	,	,	PUNCT
app01-3928	120	10	transmission	transmission	NOUN
app01-3928	120	11	delay	delay	NOUN
app01-3928	120	12	,	,	PUNCT
app01-3928	120	13	queuing	queue	VERB
app01-3928	120	14	delay	delay	NOUN
app01-3928	120	15	and	and	CCONJ
app01-3928	120	16	propagation	propagation	NOUN
app01-3928	120	17	delay	delay	NOUN
app01-3928	120	18	;	;	PUNCT
app01-3928	120	19	•	•	X
app01-3928	120	20	routing	routing	NOUN
app01-3928	120	21	overhead	overhead	NOUN
app01-3928	120	22	is	be	AUX
app01-3928	120	23	calculated	calculate	VERB
app01-3928	120	24	as	as	ADP
app01-3928	120	25	the	the	DET
app01-3928	120	26	ratio	ratio	NOUN
app01-3928	120	27	between	between	ADP
app01-3928	120	28	the	the	DET
app01-3928	120	29	routing	routing	NOUN
app01-3928	120	30	packets	packet	NOUN
app01-3928	120	31	to	to	ADP
app01-3928	120	32	the	the	DET
app01-3928	120	33	total	total	ADJ
app01-3928	120	34	number	number	NOUN
app01-3928	120	35	of	of	ADP
app01-3928	120	36	packets	packet	NOUN
app01-3928	120	37	transmitted	transmit	VERB
app01-3928	120	38	by	by	ADP
app01-3928	120	39	the	the	DET
app01-3928	120	40	sender	sender	NOUN
app01-3928	120	41	;	;	PUNCT
app01-3928	120	42	•	•	NUM
app01-3928	120	43	throughput	throughput	NOUN
app01-3928	120	44	is	be	AUX
app01-3928	120	45	the	the	DET
app01-3928	120	46	amount	amount	NOUN
app01-3928	120	47	of	of	ADP
app01-3928	120	48	successfully	successfully	ADV
app01-3928	120	49	delivered	deliver	VERB
app01-3928	120	50	data	datum	NOUN
app01-3928	120	51	via	via	ADP
app01-3928	120	52	a	a	DET
app01-3928	120	53	communication	communication	NOUN
app01-3928	120	54	link	link	NOUN
app01-3928	120	55	per	per	ADP
app01-3928	120	56	time	time	NOUN
app01-3928	120	57	.	.	PUNCT
app01-3928	121	1	it	it	PRON
app01-3928	121	2	is	be	AUX
app01-3928	121	3	usually	usually	ADV
app01-3928	121	4	measured	measure	VERB
app01-3928	121	5	in	in	ADP
app01-3928	121	6	bits	bit	NOUN
app01-3928	121	7	per	per	ADP
app01-3928	121	8	second	second	NOUN
app01-3928	121	9	.	.	PUNCT
app01-3928	122	1	the	the	DET
app01-3928	122	2	article	article	NOUN
app01-3928	122	3	[	[	X
app01-3928	122	4	28	28	NUM
app01-3928	122	5	]	]	PUNCT
app01-3928	122	6	discusses	discuss	VERB
app01-3928	122	7	three	three	NUM
app01-3928	122	8	routing	routing	NOUN
app01-3928	122	9	protocols	protocol	NOUN
app01-3928	122	10	dsdv	dsdv	NOUN
app01-3928	122	11	,	,	PUNCT
app01-3928	122	12	aodv	aodv	NOUN
app01-3928	122	13	and	and	CCONJ
app01-3928	122	14	dsr	dsr	PROPN
app01-3928	122	15	.	.	PUNCT
app01-3928	123	1	testing	testing	NOUN
app01-3928	123	2	is	be	AUX
app01-3928	123	3	carried	carry	VERB
app01-3928	123	4	out	out	ADP
app01-3928	123	5	on	on	ADP
app01-3928	123	6	teams	team	NOUN
app01-3928	123	7	of	of	ADP
app01-3928	123	8	robots	robot	NOUN
app01-3928	123	9	,	,	PUNCT
app01-3928	123	10	whose	whose	DET
app01-3928	123	11	size	size	NOUN
app01-3928	123	12	ranges	range	VERB
app01-3928	123	13	from	from	ADP
app01-3928	123	14	10	10	NUM
app01-3928	123	15	to	to	PART
app01-3928	123	16	80	80	NUM
app01-3928	123	17	pieces	piece	NOUN
app01-3928	123	18	.	.	PUNCT
app01-3928	124	1	robots	robot	NOUN
app01-3928	124	2	perform	perform	VERB
app01-3928	124	3	a	a	DET
app01-3928	124	4	task	task	NOUN
app01-3928	124	5	similar	similar	ADJ
app01-3928	124	6	to	to	ADP
app01-3928	124	7	the	the	DET
app01-3928	124	8	task	task	NOUN
app01-3928	124	9	of	of	ADP
app01-3928	124	10	terrain	terrain	NOUN
app01-3928	124	11	exploration	exploration	NOUN
app01-3928	124	12	.	.	PUNCT
app01-3928	125	1	each	each	DET
app01-3928	125	2	node	node	NOUN
app01-3928	125	3	chooses	choose	VERB
app01-3928	125	4	some	some	DET
app01-3928	125	5	point	point	NOUN
app01-3928	125	6	in	in	ADP
app01-3928	125	7	the	the	DET
app01-3928	125	8	terrain	terrain	NOUN
app01-3928	125	9	and	and	CCONJ
app01-3928	125	10	moves	move	NOUN
app01-3928	125	11	toward	toward	ADP
app01-3928	125	12	it	it	PRON
app01-3928	125	13	.	.	PUNCT
app01-3928	126	1	the	the	DET
app01-3928	126	2	article	article	NOUN
app01-3928	126	3	considers	consider	VERB
app01-3928	126	4	all	all	DET
app01-3928	126	5	four	four	NUM
app01-3928	126	6	criteria	criterion	NOUN
app01-3928	126	7	.	.	PUNCT
app01-3928	127	1	dsr	dsr	NOUN
app01-3928	127	2	and	and	CCONJ
app01-3928	127	3	aodv	aodv	NOUN
app01-3928	127	4	show	show	VERB
app01-3928	127	5	better	well	ADJ
app01-3928	127	6	value	value	NOUN
app01-3928	127	7	of	of	ADP
app01-3928	127	8	packet	packet	NOUN
app01-3928	127	9	delivery	delivery	NOUN
app01-3928	127	10	fraction	fraction	NOUN
app01-3928	127	11	than	than	ADP
app01-3928	127	12	dsdv	dsdv	NOUN
app01-3928	127	13	.	.	PUNCT
app01-3928	128	1	the	the	DET
app01-3928	128	2	value	value	NOUN
app01-3928	128	3	is	be	AUX
app01-3928	128	4	about	about	ADV
app01-3928	128	5	95	95	NUM
app01-3928	128	6	%	%	NOUN
app01-3928	128	7	for	for	ADP
app01-3928	128	8	a	a	DET
app01-3928	128	9	team	team	NOUN
app01-3928	128	10	of	of	ADP
app01-3928	128	11	10	10	NUM
app01-3928	128	12	robots	robot	NOUN
app01-3928	128	13	and	and	CCONJ
app01-3928	128	14	it	it	PRON
app01-3928	128	15	tends	tend	VERB
app01-3928	128	16	to	to	PART
app01-3928	128	17	100	100	NUM
app01-3928	128	18	%	%	NOUN
app01-3928	128	19	with	with	ADP
app01-3928	128	20	an	an	DET
app01-3928	128	21	increase	increase	NOUN
app01-3928	128	22	in	in	ADP
app01-3928	128	23	the	the	DET
app01-3928	128	24	team	team	NOUN
app01-3928	128	25	size	size	NOUN
app01-3928	128	26	.	.	PUNCT
app01-3928	129	1	aodv	aodv	NOUN
app01-3928	129	2	shows	show	VERB
app01-3928	129	3	the	the	DET
app01-3928	129	4	smallest	small	ADJ
app01-3928	129	5	value	value	NOUN
app01-3928	129	6	of	of	ADP
app01-3928	129	7	end	end	NOUN
app01-3928	129	8	-	-	PUNCT
app01-3928	129	9	to	to	ADP
app01-3928	129	10	-	-	PUNCT
app01-3928	129	11	end	end	NOUN
app01-3928	129	12	delay	delay	NOUN
app01-3928	129	13	.	.	PUNCT
app01-3928	130	1	dsdv	dsdv	PROPN
app01-3928	130	2	is	be	AUX
app01-3928	130	3	a	a	DET
app01-3928	130	4	proactive	proactive	ADJ
app01-3928	130	5	routing	routing	NOUN
app01-3928	130	6	protocol	protocol	NOUN
app01-3928	130	7	,	,	PUNCT
app01-3928	130	8	so	so	SCONJ
app01-3928	130	9	it	it	PRON
app01-3928	130	10	shows	show	VERB
app01-3928	130	11	better	well	ADJ
app01-3928	130	12	results	result	NOUN
app01-3928	130	13	than	than	ADP
app01-3928	130	14	dsr	dsr	NOUN
app01-3928	130	15	.	.	PUNCT
app01-3928	131	1	the	the	DET
app01-3928	131	2	value	value	NOUN
app01-3928	131	3	of	of	ADP
app01-3928	131	4	routing	route	VERB
app01-3928	131	5	overhead	overhead	NOUN
app01-3928	131	6	for	for	ADP
app01-3928	131	7	aodv	aodv	NOUN
app01-3928	131	8	is	be	AUX
app01-3928	131	9	better	well	ADJ
app01-3928	131	10	than	than	ADP
app01-3928	131	11	dsdv	dsdv	NOUN
app01-3928	131	12	.	.	PUNCT
app01-3928	132	1	however	however	ADV
app01-3928	132	2	,	,	PUNCT
app01-3928	132	3	dsr	dsr	PROPN
app01-3928	132	4	has	have	VERB
app01-3928	132	5	the	the	DET
app01-3928	132	6	smallest	small	ADJ
app01-3928	132	7	routing	routing	NOUN
app01-3928	132	8	overhead	overhead	ADV
app01-3928	132	9	in	in	ADP
app01-3928	132	10	comparison	comparison	NOUN
app01-3928	132	11	with	with	ADP
app01-3928	132	12	the	the	DET
app01-3928	132	13	other	other	ADJ
app01-3928	132	14	two	two	NUM
app01-3928	132	15	.	.	PUNCT
app01-3928	133	1	throughput	throughput	NOUN
app01-3928	133	2	has	have	VERB
app01-3928	133	3	the	the	DET
app01-3928	133	4	lowest	low	ADJ
app01-3928	133	5	value	value	NOUN
app01-3928	133	6	for	for	ADP
app01-3928	133	7	proactive	proactive	ADJ
app01-3928	133	8	dsdv	dsdv	NOUN
app01-3928	133	9	.	.	PUNCT
app01-3928	134	1	both	both	PRON
app01-3928	134	2	dsr	dsr	PROPN
app01-3928	134	3	and	and	CCONJ
app01-3928	134	4	aodv	aodv	NOUN
app01-3928	134	5	show	show	NOUN
app01-3928	134	6	approximately	approximately	ADV
app01-3928	134	7	the	the	DET
app01-3928	134	8	same	same	ADJ
app01-3928	134	9	results	result	NOUN
app01-3928	134	10	,	,	PUNCT
app01-3928	134	11	but	but	CCONJ
app01-3928	134	12	this	this	DET
app01-3928	134	13	metric	metric	NOUN
app01-3928	134	14	for	for	ADP
app01-3928	134	15	dsr	dsr	NOUN
app01-3928	134	16	is	be	AUX
app01-3928	134	17	slightly	slightly	ADV
app01-3928	134	18	higher	high	ADJ
app01-3928	134	19	.	.	PUNCT
app01-3928	135	1	a	a	DET
app01-3928	135	2	performance	performance	NOUN
app01-3928	135	3	comparison	comparison	NOUN
app01-3928	135	4	of	of	ADP
app01-3928	135	5	aodv	aodv	NOUN
app01-3928	135	6	,	,	PUNCT
app01-3928	135	7	olsr	olsr	NOUN
app01-3928	135	8	and	and	CCONJ
app01-3928	135	9	zrp	zrp	NOUN
app01-3928	135	10	is	be	AUX
app01-3928	135	11	described	describe	VERB
app01-3928	135	12	in	in	ADP
app01-3928	135	13	[	[	X
app01-3928	135	14	29	29	NUM
app01-3928	135	15	]	]	PUNCT
app01-3928	135	16	.	.	PUNCT
app01-3928	136	1	the	the	DET
app01-3928	136	2	simulation	simulation	NOUN
app01-3928	136	3	is	be	AUX
app01-3928	136	4	conducted	conduct	VERB
app01-3928	136	5	for	for	ADP
app01-3928	136	6	teams	team	NOUN
app01-3928	136	7	of	of	ADP
app01-3928	136	8	robots	robot	NOUN
app01-3928	136	9	with	with	ADP
app01-3928	136	10	sizes	size	NOUN
app01-3928	136	11	of	of	ADP
app01-3928	136	12	25	25	NUM
app01-3928	136	13	,	,	PUNCT
app01-3928	136	14	50	50	NUM
app01-3928	136	15	,	,	PUNCT
app01-3928	136	16	75	75	NUM
app01-3928	136	17	,	,	PUNCT
app01-3928	136	18	100	100	NUM
app01-3928	136	19	,	,	PUNCT
app01-3928	136	20	and	and	CCONJ
app01-3928	136	21	provides	provide	VERB
app01-3928	136	22	measurement	measurement	NOUN
app01-3928	136	23	of	of	ADP
app01-3928	136	24	all	all	DET
app01-3928	136	25	metrics	metric	NOUN
app01-3928	136	26	,	,	PUNCT
app01-3928	136	27	except	except	SCONJ
app01-3928	136	28	the	the	DET
app01-3928	136	29	routing	routing	NOUN
app01-3928	136	30	overhead	overhead	NOUN
app01-3928	136	31	.	.	PUNCT
app01-3928	137	1	the	the	DET
app01-3928	137	2	packet	packet	NOUN
app01-3928	137	3	delivery	delivery	NOUN
app01-3928	137	4	fraction	fraction	NOUN
app01-3928	137	5	for	for	ADP
app01-3928	137	6	aodv	aodv	NOUN
app01-3928	137	7	is	be	AUX
app01-3928	137	8	approximately	approximately	ADV
app01-3928	137	9	90	90	NUM
app01-3928	137	10	%	%	NOUN
app01-3928	137	11	,	,	PUNCT
app01-3928	137	12	while	while	SCONJ
app01-3928	137	13	olsr	olsr	NOUN
app01-3928	137	14	and	and	CCONJ
app01-3928	137	15	zrp	zrp	NOUN
app01-3928	137	16	have	have	VERB
app01-3928	137	17	the	the	DET
app01-3928	137	18	values	value	NOUN
app01-3928	137	19	of	of	ADP
app01-3928	137	20	20	20	NUM
app01-3928	137	21	-	-	SYM
app01-3928	137	22	40	40	NUM
app01-3928	137	23	%	%	NOUN
app01-3928	137	24	.	.	PUNCT
app01-3928	138	1	moreover	moreover	ADV
app01-3928	138	2	,	,	PUNCT
app01-3928	138	3	aodv	aodv	NOUN
app01-3928	138	4	has	have	VERB
app01-3928	138	5	the	the	DET
app01-3928	138	6	highest	high	ADJ
app01-3928	138	7	throughput	throughput	NOUN
app01-3928	138	8	,	,	PUNCT
app01-3928	138	9	as	as	SCONJ
app01-3928	138	10	compared	compare	VERB
app01-3928	138	11	to	to	ADP
app01-3928	138	12	two	two	NUM
app01-3928	138	13	other	other	ADJ
app01-3928	138	14	routing	routing	NOUN
app01-3928	138	15	protocols	protocol	NOUN
app01-3928	138	16	.	.	PUNCT
app01-3928	139	1	however	however	ADV
app01-3928	139	2	,	,	PUNCT
app01-3928	139	3	aodv	aodv	NOUN
app01-3928	139	4	shows	show	VERB
app01-3928	139	5	a	a	DET
app01-3928	139	6	significantly	significantly	ADV
app01-3928	139	7	larger	large	ADJ
app01-3928	139	8	end	end	NOUN
app01-3928	139	9	-	-	PUNCT
app01-3928	139	10	to	to	ADP
app01-3928	139	11	-	-	PUNCT
app01-3928	139	12	end	end	NOUN
app01-3928	139	13	delay	delay	NOUN
app01-3928	139	14	than	than	ADP
app01-3928	139	15	the	the	DET
app01-3928	139	16	reactive	reactive	NOUN
app01-3928	139	17	olsr	olsr	NOUN
app01-3928	139	18	and	and	CCONJ
app01-3928	139	19	the	the	DET
app01-3928	139	20	hybrid	hybrid	ADJ
app01-3928	139	21	zrp	zrp	NOUN
app01-3928	139	22	.	.	PUNCT
app01-3928	140	1	the	the	DET
app01-3928	140	2	publication	publication	NOUN
app01-3928	140	3	[	[	X
app01-3928	140	4	30	30	NUM
app01-3928	140	5	]	]	PUNCT
app01-3928	140	6	compares	compare	VERB
app01-3928	140	7	the	the	DET
app01-3928	140	8	performance	performance	NOUN
app01-3928	140	9	of	of	ADP
app01-3928	140	10	dsdv	dsdv	NOUN
app01-3928	140	11	,	,	PUNCT
app01-3928	140	12	tora	tora	PROPN
app01-3928	140	13	,	,	PUNCT
app01-3928	140	14	dsr	dsr	NOUN
app01-3928	140	15	and	and	CCONJ
app01-3928	140	16	aodv	aodv	NOUN
app01-3928	140	17	.	.	PUNCT
app01-3928	141	1	the	the	DET
app01-3928	141	2	maximum	maximum	ADJ
app01-3928	141	3	number	number	NOUN
app01-3928	141	4	of	of	ADP
app01-3928	141	5	robots	robot	NOUN
app01-3928	141	6	in	in	ADP
app01-3928	141	7	the	the	DET
app01-3928	141	8	team	team	NOUN
app01-3928	141	9	in	in	ADP
app01-3928	141	10	the	the	DET
app01-3928	141	11	simulation	simulation	NOUN
app01-3928	141	12	is	be	AUX
app01-3928	141	13	50	50	NUM
app01-3928	141	14	.	.	PUNCT
app01-3928	142	1	the	the	DET
app01-3928	142	2	article	article	NOUN
app01-3928	142	3	considers	consider	VERB
app01-3928	142	4	several	several	ADJ
app01-3928	142	5	metrics	metric	NOUN
app01-3928	142	6	,	,	PUNCT
app01-3928	142	7	which	which	PRON
app01-3928	142	8	include	include	VERB
app01-3928	142	9	packet	packet	NOUN
app01-3928	142	10	delivery	delivery	NOUN
app01-3928	142	11	fraction	fraction	NOUN
app01-3928	142	12	.	.	PUNCT
app01-3928	143	1	both	both	PRON
app01-3928	143	2	dsr	dsr	PROPN
app01-3928	143	3	and	and	CCONJ
app01-3928	143	4	aodv	aodv	NOUN
app01-3928	143	5	show	show	VERB
app01-3928	143	6	excellent	excellent	ADJ
app01-3928	143	7	results	result	NOUN
app01-3928	143	8	for	for	ADP
app01-3928	143	9	the	the	DET
app01-3928	143	10	packet	packet	NOUN
app01-3928	143	11	delivery	delivery	NOUN
app01-3928	143	12	ratio	ratio	NOUN
app01-3928	143	13	,	,	PUNCT
app01-3928	143	14	which	which	DET
app01-3928	143	15	20	20	NUM
app01-3928	143	16	vol	vol	NOUN
app01-3928	143	17	.	.	PUNCT
app01-3928	144	1	6/2016	6/2016	NUM
app01-3928	144	2	framework	framework	NOUN
app01-3928	144	3	for	for	ADP
app01-3928	144	4	ad	ad	X
app01-3928	144	5	hoc	hoc	X
app01-3928	144	6	network	network	NOUN
app01-3928	144	7	communication	communication	NOUN
app01-3928	144	8	in	in	ADP
app01-3928	144	9	multi	multi	ADJ
app01-3928	144	10	-	-	ADJ
app01-3928	144	11	robot	robot	ADJ
app01-3928	144	12	systems	system	NOUN
app01-3928	144	13	activemq	activemq	NOUN
app01-3928	144	14	apollo	apollo	PROPN
app01-3928	144	15	zeromq	zeromq	PROPN
app01-3928	144	16	nanomsg	nanomsg	VERB
app01-3928	144	17	open	open	ADJ
app01-3928	144	18	-	-	PUNCT
app01-3928	144	19	source	source	NOUN
app01-3928	145	1	yes	yes	INTJ
app01-3928	145	2	yes	yes	INTJ
app01-3928	146	1	yes	yes	INTJ
app01-3928	146	2	has	have	VERB
app01-3928	146	3	detailed	detailed	ADJ
app01-3928	146	4	documentation	documentation	NOUN
app01-3928	147	1	yes	yes	INTJ
app01-3928	147	2	yes	yes	INTJ
app01-3928	148	1	only	only	ADV
app01-3928	148	2	manual	manual	ADJ
app01-3928	148	3	pages	page	NOUN
app01-3928	148	4	has	have	VERB
app01-3928	148	5	new	new	ADJ
app01-3928	148	6	updates	update	NOUN
app01-3928	149	1	yes	yes	INTJ
app01-3928	150	1	yes	yes	INTJ
app01-3928	150	2	yes	yes	INTJ
app01-3928	150	3	point	point	NOUN
app01-3928	150	4	-	-	PUNCT
app01-3928	150	5	to	to	ADP
app01-3928	150	6	-	-	PUNCT
app01-3928	150	7	point	point	NOUN
app01-3928	150	8	message	message	NOUN
app01-3928	150	9	passing	pass	VERB
app01-3928	151	1	yes	yes	INTJ
app01-3928	151	2	yes	yes	INTJ
app01-3928	151	3	yes	yes	INTJ
app01-3928	151	4	publish	publish	VERB
app01-3928	151	5	/	/	SYM
app01-3928	151	6	subscribe	subscribe	NOUN
app01-3928	151	7	message	message	NOUN
app01-3928	151	8	passing	pass	VERB
app01-3928	152	1	yes	yes	INTJ
app01-3928	153	1	yes	yes	INTJ
app01-3928	153	2	yes	yes	INTJ
app01-3928	153	3	written	write	VERB
app01-3928	153	4	in	in	ADP
app01-3928	153	5	java	java	PROPN
app01-3928	153	6	c++	c++	NOUN
app01-3928	153	7	c	c	PROPN
app01-3928	153	8	transport	transport	PROPN
app01-3928	153	9	protocol	protocol	PROPN
app01-3928	153	10	tcp	tcp	PROPN
app01-3928	153	11	,	,	PUNCT
app01-3928	153	12	udp	udp	NOUN
app01-3928	153	13	tcp	tcp	X
app01-3928	153	14	,	,	PUNCT
app01-3928	153	15	in	in	ADP
app01-3928	153	16	-	-	PUNCT
app01-3928	153	17	proc	proc	NOUN
app01-3928	153	18	tcp	tcp	NOUN
app01-3928	153	19	,	,	PUNCT
app01-3928	153	20	in	in	ADP
app01-3928	153	21	-	-	PUNCT
app01-3928	153	22	proc	proc	NOUN
app01-3928	153	23	support	support	NOUN
app01-3928	154	1	brokerless	brokerless	PROPN
app01-3928	154	2	model	model	NOUN
app01-3928	155	1	no	no	INTJ
app01-3928	155	2	yes	yes	INTJ
app01-3928	156	1	yes	yes	INTJ
app01-3928	156	2	complexity	complexity	NOUN
app01-3928	156	3	of	of	ADP
app01-3928	156	4	use	use	NOUN
app01-3928	156	5	requires	require	VERB
app01-3928	156	6	broker	broker	NOUN
app01-3928	156	7	without	without	ADP
app01-3928	156	8	without	without	ADP
app01-3928	156	9	configuration	configuration	NOUN
app01-3928	156	10	pre	pre	NOUN
app01-3928	156	11	configuration	configuration	NOUN
app01-3928	156	12	pre	pre	NOUN
app01-3928	156	13	configuration	configuration	NOUN
app01-3928	156	14	table	table	NOUN
app01-3928	156	15	1	1	NUM
app01-3928	156	16	.	.	PUNCT
app01-3928	157	1	a	a	DET
app01-3928	157	2	brief	brief	ADJ
app01-3928	157	3	comparison	comparison	NOUN
app01-3928	157	4	of	of	ADP
app01-3928	157	5	message	message	NOUN
app01-3928	157	6	oriented	orient	VERB
app01-3928	157	7	middlewares	middleware	NOUN
app01-3928	157	8	.	.	PUNCT
app01-3928	157	9	ranged	range	VERB
app01-3928	157	10	from	from	ADP
app01-3928	157	11	95	95	NUM
app01-3928	157	12	to	to	PART
app01-3928	157	13	100	100	NUM
app01-3928	157	14	%	%	NOUN
app01-3928	157	15	depending	depend	VERB
app01-3928	157	16	on	on	ADP
app01-3928	157	17	the	the	DET
app01-3928	157	18	network	network	NOUN
app01-3928	157	19	load	load	NOUN
app01-3928	157	20	.	.	PUNCT
app01-3928	158	1	aodv	aodv	NOUN
app01-3928	158	2	is	be	AUX
app01-3928	158	3	selected	select	VERB
app01-3928	158	4	for	for	ADP
app01-3928	158	5	implementation	implementation	NOUN
app01-3928	158	6	of	of	ADP
app01-3928	158	7	the	the	DET
app01-3928	158	8	exploration	exploration	NOUN
app01-3928	158	9	framework	framework	NOUN
app01-3928	158	10	on	on	ADP
app01-3928	158	11	the	the	DET
app01-3928	158	12	basis	basis	NOUN
app01-3928	158	13	of	of	ADP
app01-3928	158	14	the	the	DET
app01-3928	158	15	above	above	ADJ
app01-3928	158	16	mentioned	mention	VERB
app01-3928	158	17	comparisons	comparison	NOUN
app01-3928	158	18	.	.	PUNCT
app01-3928	159	1	simulations	simulation	NOUN
app01-3928	159	2	use	use	VERB
app01-3928	159	3	robot	robot	NOUN
app01-3928	159	4	teams	team	NOUN
app01-3928	159	5	of	of	ADP
app01-3928	159	6	various	various	ADJ
app01-3928	159	7	sizes	size	NOUN
app01-3928	159	8	and	and	CCONJ
app01-3928	159	9	display	display	NOUN
app01-3928	159	10	measurement	measurement	NOUN
app01-3928	159	11	results	result	NOUN
app01-3928	159	12	that	that	PRON
app01-3928	159	13	are	be	AUX
app01-3928	159	14	close	close	ADJ
app01-3928	159	15	to	to	ADP
app01-3928	159	16	the	the	DET
app01-3928	159	17	conditions	condition	NOUN
app01-3928	159	18	of	of	ADP
app01-3928	159	19	the	the	DET
app01-3928	159	20	real	real	ADJ
app01-3928	159	21	world	world	NOUN
app01-3928	159	22	.	.	PUNCT
app01-3928	160	1	the	the	DET
app01-3928	160	2	main	main	ADJ
app01-3928	160	3	advantage	advantage	NOUN
app01-3928	160	4	of	of	ADP
app01-3928	160	5	aodv	aodv	NOUN
app01-3928	160	6	is	be	AUX
app01-3928	160	7	a	a	DET
app01-3928	160	8	high	high	ADJ
app01-3928	160	9	percentage	percentage	NOUN
app01-3928	160	10	of	of	ADP
app01-3928	160	11	packet	packet	NOUN
app01-3928	160	12	delivery	delivery	NOUN
app01-3928	160	13	to	to	ADP
app01-3928	160	14	the	the	DET
app01-3928	160	15	destination	destination	NOUN
app01-3928	160	16	.	.	PUNCT
app01-3928	161	1	the	the	DET
app01-3928	161	2	routing	routing	NOUN
app01-3928	161	3	protocol	protocol	NOUN
app01-3928	161	4	has	have	VERB
app01-3928	161	5	a	a	DET
app01-3928	161	6	good	good	ADJ
app01-3928	161	7	throughput	throughput	NOUN
app01-3928	161	8	compared	compare	VERB
app01-3928	161	9	to	to	ADP
app01-3928	161	10	the	the	DET
app01-3928	161	11	rest	rest	NOUN
app01-3928	161	12	.	.	PUNCT
app01-3928	162	1	the	the	DET
app01-3928	162	2	designed	design	VERB
app01-3928	162	3	application	application	NOUN
app01-3928	162	4	does	do	AUX
app01-3928	162	5	not	not	PART
app01-3928	162	6	send	send	VERB
app01-3928	162	7	many	many	ADJ
app01-3928	162	8	unicast	unicast	ADJ
app01-3928	162	9	messages	message	NOUN
app01-3928	162	10	,	,	PUNCT
app01-3928	162	11	so	so	CCONJ
app01-3928	162	12	the	the	DET
app01-3928	162	13	inflated	inflated	ADJ
app01-3928	162	14	end	end	NOUN
app01-3928	162	15	-	-	PUNCT
app01-3928	162	16	to	to	ADP
app01-3928	162	17	-	-	PUNCT
app01-3928	162	18	end	end	NOUN
app01-3928	162	19	delay	delay	NOUN
app01-3928	162	20	and	and	CCONJ
app01-3928	162	21	routing	route	VERB
app01-3928	162	22	overhead	overhead	NOUN
app01-3928	162	23	are	be	AUX
app01-3928	162	24	not	not	PART
app01-3928	162	25	important	important	ADJ
app01-3928	162	26	.	.	PUNCT
app01-3928	163	1	that	that	PRON
app01-3928	163	2	is	be	AUX
app01-3928	163	3	,	,	PUNCT
app01-3928	163	4	these	these	DET
app01-3928	163	5	values	value	NOUN
app01-3928	163	6	are	be	AUX
app01-3928	163	7	acceptable	acceptable	ADJ
app01-3928	163	8	for	for	ADP
app01-3928	163	9	the	the	DET
app01-3928	163	10	terrain	terrain	NOUN
app01-3928	163	11	exploration	exploration	NOUN
app01-3928	163	12	problem	problem	NOUN
app01-3928	163	13	.	.	PUNCT
app01-3928	164	1	3	3	X
app01-3928	164	2	.	.	X
app01-3928	164	3	message	message	NOUN
app01-3928	164	4	oriented	orient	VERB
app01-3928	164	5	middleware	middleware	NOUN
app01-3928	164	6	the	the	DET
app01-3928	164	7	exploration	exploration	NOUN
app01-3928	164	8	application	application	NOUN
app01-3928	164	9	uses	use	VERB
app01-3928	164	10	message	message	NOUN
app01-3928	164	11	passing	pass	VERB
app01-3928	164	12	to	to	PART
app01-3928	164	13	communicate	communicate	VERB
app01-3928	164	14	between	between	ADP
app01-3928	164	15	team	team	NOUN
app01-3928	164	16	members	member	NOUN
app01-3928	164	17	.	.	PUNCT
app01-3928	165	1	it	it	PRON
app01-3928	165	2	is	be	AUX
app01-3928	165	3	a	a	DET
app01-3928	165	4	technique	technique	NOUN
app01-3928	165	5	for	for	ADP
app01-3928	165	6	invoking	invoke	VERB
app01-3928	165	7	behavior	behavior	NOUN
app01-3928	165	8	,	,	PUNCT
app01-3928	165	9	which	which	PRON
app01-3928	165	10	uses	use	VERB
app01-3928	165	11	incoming	incoming	ADJ
app01-3928	165	12	messages	message	NOUN
app01-3928	165	13	from	from	ADP
app01-3928	165	14	other	other	ADJ
app01-3928	165	15	processes	process	NOUN
app01-3928	165	16	to	to	PART
app01-3928	165	17	run	run	VERB
app01-3928	165	18	a	a	DET
app01-3928	165	19	code	code	NOUN
app01-3928	165	20	.	.	PUNCT
app01-3928	166	1	there	there	PRON
app01-3928	166	2	are	be	VERB
app01-3928	166	3	two	two	NUM
app01-3928	166	4	types	type	NOUN
app01-3928	166	5	of	of	ADP
app01-3928	166	6	message	message	NOUN
app01-3928	166	7	passing	passing	NOUN
app01-3928	166	8	:	:	PUNCT
app01-3928	166	9	synchronous	synchronous	ADJ
app01-3928	166	10	and	and	CCONJ
app01-3928	166	11	asynchronous	asynchronous	ADJ
app01-3928	166	12	.	.	PUNCT
app01-3928	167	1	the	the	DET
app01-3928	167	2	synchronous	synchronous	ADJ
app01-3928	167	3	approach	approach	NOUN
app01-3928	167	4	implies	imply	VERB
app01-3928	167	5	that	that	SCONJ
app01-3928	167	6	message	message	NOUN
app01-3928	167	7	exchange	exchange	NOUN
app01-3928	167	8	takes	take	VERB
app01-3928	167	9	place	place	NOUN
app01-3928	167	10	at	at	ADP
app01-3928	167	11	a	a	DET
app01-3928	167	12	time	time	NOUN
app01-3928	167	13	when	when	SCONJ
app01-3928	167	14	applications	application	NOUN
app01-3928	167	15	are	be	AUX
app01-3928	167	16	running	run	VERB
app01-3928	167	17	simultaneously	simultaneously	ADV
app01-3928	167	18	.	.	PUNCT
app01-3928	168	1	it	it	PRON
app01-3928	168	2	uses	use	VERB
app01-3928	168	3	temporary	temporary	ADJ
app01-3928	168	4	sender	sender	NOUN
app01-3928	168	5	blocking	block	VERB
app01-3928	168	6	before	before	ADP
app01-3928	168	7	receiving	receive	VERB
app01-3928	168	8	a	a	DET
app01-3928	168	9	response	response	NOUN
app01-3928	168	10	from	from	ADP
app01-3928	168	11	a	a	DET
app01-3928	168	12	recipient	recipient	NOUN
app01-3928	168	13	and	and	CCONJ
app01-3928	168	14	infinitely	infinitely	ADV
app01-3928	168	15	blocking	block	VERB
app01-3928	168	16	in	in	ADP
app01-3928	168	17	case	case	NOUN
app01-3928	168	18	of	of	ADP
app01-3928	168	19	recipient	recipient	NOUN
app01-3928	168	20	unavailability	unavailability	NOUN
app01-3928	168	21	.	.	PUNCT
app01-3928	169	1	the	the	DET
app01-3928	169	2	robots	robot	NOUN
app01-3928	169	3	move	move	VERB
app01-3928	169	4	in	in	ADP
app01-3928	169	5	the	the	DET
app01-3928	169	6	environment	environment	NOUN
app01-3928	169	7	during	during	ADP
app01-3928	169	8	the	the	DET
app01-3928	169	9	exploration	exploration	NOUN
app01-3928	169	10	problem	problem	NOUN
app01-3928	169	11	solving	solve	VERB
app01-3928	169	12	and	and	CCONJ
app01-3928	169	13	can	can	AUX
app01-3928	169	14	get	get	VERB
app01-3928	169	15	out	out	ADP
app01-3928	169	16	of	of	ADP
app01-3928	169	17	the	the	DET
app01-3928	169	18	communication	communication	NOUN
app01-3928	169	19	range	range	NOUN
app01-3928	169	20	.	.	PUNCT
app01-3928	170	1	in	in	ADP
app01-3928	170	2	addition	addition	NOUN
app01-3928	170	3	,	,	PUNCT
app01-3928	170	4	the	the	DET
app01-3928	170	5	robot	robot	NOUN
app01-3928	170	6	can	can	AUX
app01-3928	170	7	be	be	AUX
app01-3928	170	8	turned	turn	VERB
app01-3928	170	9	off	off	ADP
app01-3928	170	10	,	,	PUNCT
app01-3928	170	11	for	for	ADP
app01-3928	170	12	example	example	NOUN
app01-3928	170	13	,	,	PUNCT
app01-3928	170	14	due	due	ADP
app01-3928	170	15	to	to	ADP
app01-3928	170	16	the	the	DET
app01-3928	170	17	battery	battery	NOUN
app01-3928	170	18	discharge	discharge	NOUN
app01-3928	170	19	.	.	PUNCT
app01-3928	171	1	in	in	ADP
app01-3928	171	2	such	such	ADJ
app01-3928	171	3	cases	case	NOUN
app01-3928	171	4	,	,	PUNCT
app01-3928	171	5	the	the	DET
app01-3928	171	6	message	message	NOUN
app01-3928	171	7	sender	sender	NOUN
app01-3928	171	8	is	be	AUX
app01-3928	171	9	blocked	block	VERB
app01-3928	171	10	.	.	PUNCT
app01-3928	172	1	that	that	PRON
app01-3928	172	2	is	be	AUX
app01-3928	172	3	,	,	PUNCT
app01-3928	172	4	synchronous	synchronous	ADJ
app01-3928	172	5	approaches	approach	NOUN
app01-3928	172	6	are	be	AUX
app01-3928	172	7	not	not	PART
app01-3928	172	8	suitable	suitable	ADJ
app01-3928	172	9	for	for	ADP
app01-3928	172	10	use	use	NOUN
app01-3928	172	11	in	in	ADP
app01-3928	172	12	distributed	distribute	VERB
app01-3928	172	13	robotic	robotic	ADJ
app01-3928	172	14	systems	system	NOUN
app01-3928	172	15	that	that	PRON
app01-3928	172	16	solve	solve	VERB
app01-3928	172	17	exploration	exploration	NOUN
app01-3928	172	18	problem	problem	NOUN
app01-3928	172	19	.	.	PUNCT
app01-3928	173	1	the	the	DET
app01-3928	173	2	asynchronous	asynchronous	ADJ
app01-3928	173	3	approach	approach	NOUN
app01-3928	173	4	does	do	AUX
app01-3928	173	5	not	not	PART
app01-3928	173	6	require	require	VERB
app01-3928	173	7	simultaneous	simultaneous	ADJ
app01-3928	173	8	operation	operation	NOUN
app01-3928	173	9	of	of	ADP
app01-3928	173	10	a	a	DET
app01-3928	173	11	sender	sender	NOUN
app01-3928	173	12	and	and	CCONJ
app01-3928	173	13	a	a	DET
app01-3928	173	14	recipient	recipient	NOUN
app01-3928	173	15	.	.	PUNCT
app01-3928	174	1	the	the	DET
app01-3928	174	2	intermediate	intermediate	ADJ
app01-3928	174	3	level	level	NOUN
app01-3928	174	4	of	of	ADP
app01-3928	174	5	software	software	NOUN
app01-3928	174	6	provides	provide	VERB
app01-3928	174	7	all	all	DET
app01-3928	174	8	the	the	DET
app01-3928	174	9	operations	operation	NOUN
app01-3928	174	10	for	for	ADP
app01-3928	174	11	receiving	receiving	NOUN
app01-3928	174	12	,	,	PUNCT
app01-3928	174	13	storing	store	VERB
app01-3928	174	14	and	and	CCONJ
app01-3928	174	15	sending	sending	NOUN
app01-3928	174	16	of	of	ADP
app01-3928	174	17	messages	message	NOUN
app01-3928	174	18	.	.	PUNCT
app01-3928	175	1	the	the	DET
app01-3928	175	2	most	most	ADV
app01-3928	175	3	known	know	VERB
app01-3928	175	4	type	type	NOUN
app01-3928	175	5	of	of	ADP
app01-3928	175	6	such	such	ADJ
app01-3928	175	7	software	software	NOUN
app01-3928	175	8	is	be	AUX
app01-3928	175	9	messageoriented	messageoriente	VERB
app01-3928	175	10	middleware	middleware	NOUN
app01-3928	175	11	(	(	PUNCT
app01-3928	175	12	mom	mom	NOUN
app01-3928	175	13	)	)	PUNCT
app01-3928	175	14	.	.	PUNCT
app01-3928	176	1	table	table	NOUN
app01-3928	176	2	1	1	NUM
app01-3928	176	3	provides	provide	VERB
app01-3928	176	4	a	a	DET
app01-3928	176	5	brief	brief	ADJ
app01-3928	176	6	comparison	comparison	NOUN
app01-3928	176	7	of	of	ADP
app01-3928	176	8	main	main	ADJ
app01-3928	176	9	parameters	parameter	NOUN
app01-3928	176	10	of	of	ADP
app01-3928	176	11	these	these	DET
app01-3928	176	12	three	three	NUM
app01-3928	176	13	widely	widely	ADV
app01-3928	176	14	used	use	VERB
app01-3928	176	15	asynchronous	asynchronous	ADJ
app01-3928	176	16	message	message	NOUN
app01-3928	176	17	-	-	PUNCT
app01-3928	176	18	oriented	orient	VERB
app01-3928	176	19	middlewares	middleware	NOUN
app01-3928	176	20	:	:	PUNCT
app01-3928	176	21	activemq	activemq	NOUN
app01-3928	176	22	apollo	apollo	PROPN
app01-3928	177	1	[	[	X
app01-3928	177	2	31	31	NUM
app01-3928	177	3	]	]	PUNCT
app01-3928	177	4	,	,	PUNCT
app01-3928	177	5	zeromq	zeromq	PROPN
app01-3928	178	1	[	[	X
app01-3928	178	2	32	32	NUM
app01-3928	178	3	]	]	PUNCT
app01-3928	178	4	and	and	CCONJ
app01-3928	178	5	nanomsg	nanomsg	VERB
app01-3928	179	1	[	[	X
app01-3928	179	2	33	33	NUM
app01-3928	179	3	]	]	PUNCT
app01-3928	179	4	.	.	PUNCT
app01-3928	180	1	as	as	SCONJ
app01-3928	180	2	can	can	AUX
app01-3928	180	3	be	be	AUX
app01-3928	180	4	seen	see	VERB
app01-3928	180	5	from	from	ADP
app01-3928	180	6	the	the	DET
app01-3928	180	7	table	table	NOUN
app01-3928	180	8	,	,	PUNCT
app01-3928	180	9	all	all	DET
app01-3928	180	10	three	three	NUM
app01-3928	180	11	libraries	library	NOUN
app01-3928	180	12	are	be	AUX
app01-3928	180	13	open	open	ADJ
app01-3928	180	14	-	-	PUNCT
app01-3928	180	15	source	source	NOUN
app01-3928	180	16	and	and	CCONJ
app01-3928	180	17	release	release	VERB
app01-3928	180	18	new	new	ADJ
app01-3928	180	19	updates	update	NOUN
app01-3928	180	20	.	.	PUNCT
app01-3928	181	1	the	the	DET
app01-3928	181	2	first	first	ADJ
app01-3928	181	3	two	two	NUM
app01-3928	181	4	libraries	library	NOUN
app01-3928	181	5	are	be	AUX
app01-3928	181	6	well	well	ADV
app01-3928	181	7	documented	document	VERB
app01-3928	181	8	and	and	CCONJ
app01-3928	181	9	have	have	VERB
app01-3928	181	10	a	a	DET
app01-3928	181	11	large	large	ADJ
app01-3928	181	12	community	community	NOUN
app01-3928	181	13	of	of	ADP
app01-3928	181	14	users	user	NOUN
app01-3928	181	15	.	.	PUNCT
app01-3928	182	1	the	the	DET
app01-3928	182	2	latter	latter	ADJ
app01-3928	182	3	is	be	AUX
app01-3928	182	4	improved	improve	VERB
app01-3928	182	5	and	and	CCONJ
app01-3928	182	6	rewritten	rewrite	VERB
app01-3928	182	7	zeromq	zeromq	PROPN
app01-3928	182	8	library	library	NOUN
app01-3928	182	9	,	,	PUNCT
app01-3928	182	10	which	which	PRON
app01-3928	182	11	currently	currently	ADV
app01-3928	182	12	has	have	VERB
app01-3928	182	13	only	only	ADV
app01-3928	182	14	the	the	DET
app01-3928	182	15	manual	manual	ADJ
app01-3928	182	16	pages	page	NOUN
app01-3928	182	17	,	,	PUNCT
app01-3928	182	18	but	but	CCONJ
app01-3928	182	19	the	the	DET
app01-3928	182	20	number	number	NOUN
app01-3928	182	21	of	of	ADP
app01-3928	182	22	nanomsg	nanomsg	NOUN
app01-3928	182	23	users	user	NOUN
app01-3928	182	24	is	be	AUX
app01-3928	182	25	constantly	constantly	ADV
app01-3928	182	26	growing	grow	VERB
app01-3928	182	27	.	.	PUNCT
app01-3928	183	1	all	all	DET
app01-3928	183	2	considered	consider	VERB
app01-3928	183	3	libraries	library	NOUN
app01-3928	183	4	support	support	VERB
app01-3928	183	5	binding	bind	VERB
app01-3928	183	6	for	for	ADP
app01-3928	183	7	commonly	commonly	ADV
app01-3928	183	8	used	use	VERB
app01-3928	183	9	programming	programming	NOUN
app01-3928	183	10	languages	language	NOUN
app01-3928	183	11	as	as	ADP
app01-3928	183	12	java	java	PROPN
app01-3928	183	13	,	,	PUNCT
app01-3928	183	14	c	c	NOUN
app01-3928	183	15	,	,	PUNCT
app01-3928	183	16	c	c	NOUN
app01-3928	183	17	#	#	NOUN
app01-3928	183	18	and	and	CCONJ
app01-3928	183	19	c++	c++	NOUN
app01-3928	183	20	.	.	PUNCT
app01-3928	184	1	zeromq	zeromq	PROPN
app01-3928	184	2	and	and	CCONJ
app01-3928	184	3	nanomsg	nanomsg	NOUN
app01-3928	184	4	have	have	VERB
app01-3928	184	5	also	also	ADV
app01-3928	184	6	bindings	binding	NOUN
app01-3928	184	7	for	for	ADP
app01-3928	184	8	ruby	ruby	PROPN
app01-3928	184	9	,	,	PUNCT
app01-3928	184	10	go	go	VERB
app01-3928	184	11	,	,	PUNCT
app01-3928	184	12	haskell	haskell	NOUN
app01-3928	184	13	,	,	PUNCT
app01-3928	184	14	perl	perl	NOUN
app01-3928	184	15	,	,	PUNCT
app01-3928	184	16	php	php	NOUN
app01-3928	184	17	and	and	CCONJ
app01-3928	184	18	others	other	NOUN
app01-3928	184	19	.	.	PUNCT
app01-3928	185	1	there	there	PRON
app01-3928	185	2	are	be	VERB
app01-3928	185	3	two	two	NUM
app01-3928	185	4	main	main	ADJ
app01-3928	185	5	functionalities	functionality	NOUN
app01-3928	185	6	of	of	ADP
app01-3928	185	7	moms	mom	NOUN
app01-3928	185	8	:	:	PUNCT
app01-3928	185	9	message	message	NOUN
app01-3928	185	10	queuing	queuing	NOUN
app01-3928	185	11	and	and	CCONJ
app01-3928	185	12	publish	publish	VERB
app01-3928	185	13	/	/	SYM
app01-3928	185	14	subscribe	subscribe	NOUN
app01-3928	185	15	.	.	PUNCT
app01-3928	186	1	the	the	DET
app01-3928	186	2	first	first	ADJ
app01-3928	186	3	approach	approach	NOUN
app01-3928	186	4	is	be	AUX
app01-3928	186	5	a	a	DET
app01-3928	186	6	point	point	NOUN
app01-3928	186	7	-	-	PUNCT
app01-3928	186	8	to	to	ADP
app01-3928	186	9	-	-	PUNCT
app01-3928	186	10	point	point	NOUN
app01-3928	186	11	messaging	messaging	NOUN
app01-3928	186	12	model	model	NOUN
app01-3928	186	13	,	,	PUNCT
app01-3928	186	14	that	that	ADV
app01-3928	186	15	is	is	ADV
app01-3928	186	16	,	,	PUNCT
app01-3928	186	17	a	a	DET
app01-3928	186	18	message	message	NOUN
app01-3928	186	19	is	be	AUX
app01-3928	186	20	sent	send	VERB
app01-3928	186	21	from	from	ADP
app01-3928	186	22	a	a	DET
app01-3928	186	23	sender	sender	NOUN
app01-3928	186	24	to	to	ADP
app01-3928	186	25	a	a	DET
app01-3928	186	26	recipient	recipient	NOUN
app01-3928	186	27	.	.	PUNCT
app01-3928	187	1	publish	publish	VERB
app01-3928	187	2	/	/	SYM
app01-3928	187	3	subscribe	subscribe	NOUN
app01-3928	187	4	approach	approach	NOUN
app01-3928	187	5	is	be	AUX
app01-3928	187	6	a	a	DET
app01-3928	187	7	many	many	ADJ
app01-3928	187	8	-	-	PUNCT
app01-3928	187	9	to	to	ADP
app01-3928	187	10	-	-	PUNCT
app01-3928	187	11	many	many	ADJ
app01-3928	187	12	messaging	messaging	NOUN
app01-3928	187	13	model	model	NOUN
app01-3928	187	14	.	.	PUNCT
app01-3928	188	1	all	all	DET
app01-3928	188	2	three	three	NUM
app01-3928	188	3	libraries	library	NOUN
app01-3928	188	4	include	include	VERB
app01-3928	188	5	both	both	DET
app01-3928	188	6	types	type	NOUN
app01-3928	188	7	of	of	ADP
app01-3928	188	8	message	message	NOUN
app01-3928	188	9	passing	passing	NOUN
app01-3928	188	10	.	.	PUNCT
app01-3928	189	1	the	the	DET
app01-3928	189	2	libraries	library	NOUN
app01-3928	189	3	support	support	VERB
app01-3928	189	4	a	a	DET
app01-3928	189	5	wide	wide	ADJ
app01-3928	189	6	range	range	NOUN
app01-3928	189	7	of	of	ADP
app01-3928	189	8	transport	transport	NOUN
app01-3928	189	9	protocols	protocol	NOUN
app01-3928	189	10	,	,	PUNCT
app01-3928	189	11	but	but	CCONJ
app01-3928	189	12	transmission	transmission	NOUN
app01-3928	189	13	control	control	NOUN
app01-3928	189	14	protocol	protocol	NOUN
app01-3928	189	15	(	(	PUNCT
app01-3928	189	16	tcp	tcp	PROPN
app01-3928	189	17	)	)	PUNCT
app01-3928	189	18	,	,	PUNCT
app01-3928	189	19	user	user	NOUN
app01-3928	189	20	datagram	datagram	PROPN
app01-3928	189	21	protocol	protocol	NOUN
app01-3928	189	22	(	(	PUNCT
app01-3928	189	23	udp	udp	NOUN
app01-3928	189	24	)	)	PUNCT
app01-3928	189	25	and	and	CCONJ
app01-3928	189	26	in	in	ADP
app01-3928	189	27	-	-	PUNCT
app01-3928	189	28	proc	proc	NOUN
app01-3928	189	29	are	be	AUX
app01-3928	189	30	relevant	relevant	ADJ
app01-3928	189	31	for	for	ADP
app01-3928	189	32	the	the	DET
app01-3928	189	33	purposes	purpose	NOUN
app01-3928	189	34	of	of	ADP
app01-3928	189	35	the	the	DET
app01-3928	189	36	application	application	NOUN
app01-3928	189	37	.	.	PUNCT
app01-3928	190	1	all	all	DET
app01-3928	190	2	considered	consider	VERB
app01-3928	190	3	libraries	library	NOUN
app01-3928	190	4	support	support	NOUN
app01-3928	190	5	transfer	transfer	NOUN
app01-3928	190	6	of	of	ADP
app01-3928	190	7	data	datum	NOUN
app01-3928	190	8	over	over	ADP
app01-3928	190	9	tcp	tcp	PROPN
app01-3928	190	10	.	.	PROPN
app01-3928	190	11	activemq	activemq	PROPN
app01-3928	190	12	apollo	apollo	PROPN
app01-3928	190	13	additionally	additionally	ADV
app01-3928	190	14	supports	support	VERB
app01-3928	190	15	udp	udp	NOUN
app01-3928	190	16	,	,	PUNCT
app01-3928	190	17	while	while	SCONJ
app01-3928	190	18	the	the	DET
app01-3928	190	19	other	other	ADJ
app01-3928	190	20	two	two	NUM
app01-3928	190	21	do	do	AUX
app01-3928	190	22	not	not	PART
app01-3928	190	23	support	support	VERB
app01-3928	190	24	it	it	PRON
app01-3928	190	25	.	.	PUNCT
app01-3928	191	1	zeromq	zeromq	NOUN
app01-3928	191	2	and	and	CCONJ
app01-3928	191	3	nanomsg	nanomsg	NOUN
app01-3928	191	4	can	can	AUX
app01-3928	191	5	use	use	VERB
app01-3928	191	6	in	in	ADP
app01-3928	191	7	-	-	PUNCT
app01-3928	191	8	proc	proc	NOUN
app01-3928	191	9	transport	transport	NOUN
app01-3928	191	10	protocol	protocol	NOUN
app01-3928	191	11	.	.	PUNCT
app01-3928	192	1	it	it	PRON
app01-3928	192	2	is	be	AUX
app01-3928	192	3	an	an	DET
app01-3928	192	4	inter	inter	ADJ
app01-3928	192	5	-	-	ADJ
app01-3928	192	6	thread	thread	ADJ
app01-3928	192	7	transport	transport	NOUN
app01-3928	192	8	,	,	PUNCT
app01-3928	192	9	which	which	PRON
app01-3928	192	10	is	be	AUX
app01-3928	192	11	much	much	ADV
app01-3928	192	12	faster	fast	ADJ
app01-3928	192	13	than	than	SCONJ
app01-3928	192	14	tcp	tcp	VERB
app01-3928	192	15	and	and	CCONJ
app01-3928	192	16	can	can	AUX
app01-3928	192	17	transfer	transfer	VERB
app01-3928	192	18	data	datum	NOUN
app01-3928	192	19	between	between	ADP
app01-3928	192	20	threads	thread	NOUN
app01-3928	192	21	of	of	ADP
app01-3928	192	22	a	a	DET
app01-3928	192	23	single	single	ADJ
app01-3928	192	24	application	application	NOUN
app01-3928	192	25	.	.	PUNCT
app01-3928	193	1	the	the	DET
app01-3928	193	2	most	most	ADV
app01-3928	193	3	important	important	ADJ
app01-3928	193	4	difference	difference	NOUN
app01-3928	193	5	is	be	AUX
app01-3928	193	6	that	that	SCONJ
app01-3928	193	7	the	the	DET
app01-3928	193	8	basic	basic	ADJ
app01-3928	193	9	principle	principle	NOUN
app01-3928	193	10	of	of	ADP
app01-3928	193	11	activemq	activemq	NOUN
app01-3928	193	12	apollo	apollo	PROPN
app01-3928	193	13	is	be	AUX
app01-3928	193	14	to	to	PART
app01-3928	193	15	create	create	VERB
app01-3928	193	16	and	and	CCONJ
app01-3928	193	17	configure	configure	VERB
app01-3928	193	18	a	a	DET
app01-3928	193	19	broker	broker	NOUN
app01-3928	193	20	.	.	PUNCT
app01-3928	194	1	a	a	DET
app01-3928	194	2	distributed	distribute	VERB
app01-3928	194	3	multi	multi	ADJ
app01-3928	194	4	-	-	ADJ
app01-3928	194	5	robot	robot	ADJ
app01-3928	194	6	system	system	NOUN
app01-3928	194	7	has	have	VERB
app01-3928	194	8	no	no	DET
app01-3928	194	9	central	central	ADJ
app01-3928	194	10	node	node	NOUN
app01-3928	194	11	,	,	PUNCT
app01-3928	194	12	which	which	PRON
app01-3928	194	13	could	could	AUX
app01-3928	194	14	be	be	AUX
app01-3928	194	15	a	a	DET
app01-3928	194	16	broker	broker	NOUN
app01-3928	194	17	.	.	PUNCT
app01-3928	195	1	a	a	DET
app01-3928	195	2	possible	possible	ADJ
app01-3928	195	3	solution	solution	NOUN
app01-3928	195	4	is	be	AUX
app01-3928	195	5	creation	creation	NOUN
app01-3928	195	6	of	of	ADP
app01-3928	195	7	a	a	DET
app01-3928	195	8	broker	broker	NOUN
app01-3928	195	9	at	at	ADP
app01-3928	195	10	each	each	DET
app01-3928	195	11	node	node	NOUN
app01-3928	195	12	of	of	ADP
app01-3928	195	13	the	the	DET
app01-3928	195	14	network	network	NOUN
app01-3928	195	15	.	.	PUNCT
app01-3928	196	1	however	however	ADV
app01-3928	196	2	,	,	PUNCT
app01-3928	196	3	this	this	DET
app01-3928	196	4	solution	solution	NOUN
app01-3928	196	5	is	be	AUX
app01-3928	196	6	cumbersome	cumbersome	ADJ
app01-3928	196	7	and	and	CCONJ
app01-3928	196	8	requires	require	VERB
app01-3928	196	9	excessive	excessive	ADJ
app01-3928	196	10	pre	pre	NOUN
app01-3928	196	11	-	-	NOUN
app01-3928	196	12	configuration	configuration	NOUN
app01-3928	196	13	of	of	ADP
app01-3928	196	14	brokers	broker	NOUN
app01-3928	196	15	.	.	PUNCT
app01-3928	197	1	contrariwise	contrariwise	ADV
app01-3928	197	2	,	,	PUNCT
app01-3928	197	3	21	21	NUM
app01-3928	197	4	khilda	khilda	NOUN
app01-3928	197	5	slyusar	slyusar	NOUN
app01-3928	197	6	,	,	PUNCT
app01-3928	197	7	miroslav	miroslav	PROPN
app01-3928	197	8	kulich	kulich	PROPN
app01-3928	197	9	acta	acta	PROPN
app01-3928	197	10	polytechnica	polytechnica	PROPN
app01-3928	197	11	ctu	ctu	NOUN
app01-3928	197	12	proceedings	proceeding	NOUN
app01-3928	197	13	zeromq	zeromq	VERB
app01-3928	197	14	and	and	CCONJ
app01-3928	197	15	nanomsg	nanomsg	VERB
app01-3928	197	16	support	support	NOUN
app01-3928	197	17	brokerless	brokerless	PROPN
app01-3928	197	18	model	model	PROPN
app01-3928	197	19	.	.	PUNCT
app01-3928	198	1	nanomsg	nanomsg	PROPN
app01-3928	198	2	library	library	PROPN
app01-3928	198	3	was	be	AUX
app01-3928	198	4	developed	develop	VERB
app01-3928	198	5	by	by	ADP
app01-3928	198	6	one	one	NUM
app01-3928	198	7	of	of	ADP
app01-3928	198	8	the	the	DET
app01-3928	198	9	key	key	ADJ
app01-3928	198	10	creators	creator	NOUN
app01-3928	198	11	of	of	ADP
app01-3928	198	12	the	the	DET
app01-3928	198	13	zeromq	zeromq	PROPN
app01-3928	198	14	library	library	NOUN
app01-3928	198	15	and	and	CCONJ
app01-3928	198	16	it	it	PRON
app01-3928	198	17	fixes	fix	VERB
app01-3928	198	18	most	most	ADJ
app01-3928	198	19	of	of	ADP
app01-3928	198	20	the	the	DET
app01-3928	198	21	zeromq	zeromq	NOUN
app01-3928	198	22	drawbacks	drawback	NOUN
app01-3928	198	23	.	.	PUNCT
app01-3928	199	1	the	the	DET
app01-3928	199	2	main	main	ADJ
app01-3928	199	3	one	one	NOUN
app01-3928	199	4	is	be	AUX
app01-3928	199	5	the	the	DET
app01-3928	199	6	problem	problem	NOUN
app01-3928	199	7	with	with	ADP
app01-3928	199	8	fault	fault	NOUN
app01-3928	199	9	tolerance	tolerance	NOUN
app01-3928	199	10	.	.	PUNCT
app01-3928	200	1	nanomsg	nanomsg	PROPN
app01-3928	200	2	provides	provide	VERB
app01-3928	200	3	a	a	DET
app01-3928	200	4	new	new	ADJ
app01-3928	200	5	pattern	pattern	NOUN
app01-3928	200	6	of	of	ADP
app01-3928	200	7	communication	communication	NOUN
app01-3928	200	8	that	that	PRON
app01-3928	200	9	does	do	AUX
app01-3928	200	10	not	not	PART
app01-3928	200	11	require	require	VERB
app01-3928	200	12	redundant	redundant	ADJ
app01-3928	200	13	confirmation	confirmation	NOUN
app01-3928	200	14	from	from	ADP
app01-3928	200	15	a	a	DET
app01-3928	200	16	recipient	recipient	NOUN
app01-3928	200	17	in	in	ADP
app01-3928	200	18	the	the	DET
app01-3928	200	19	model	model	NOUN
app01-3928	200	20	requestrouter	requestrouter	NOUN
app01-3928	200	21	that	that	PRON
app01-3928	200	22	resembles	resemble	VERB
app01-3928	200	23	the	the	DET
app01-3928	200	24	work	work	NOUN
app01-3928	200	25	of	of	ADP
app01-3928	200	26	procedure	procedure	NOUN
app01-3928	200	27	calls	call	NOUN
app01-3928	200	28	.	.	PUNCT
app01-3928	201	1	the	the	DET
app01-3928	201	2	library	library	NOUN
app01-3928	201	3	allows	allow	VERB
app01-3928	201	4	to	to	PART
app01-3928	201	5	set	set	VERB
app01-3928	201	6	a	a	DET
app01-3928	201	7	timeout	timeout	NOUN
app01-3928	201	8	for	for	ADP
app01-3928	201	9	an	an	DET
app01-3928	201	10	operation	operation	NOUN
app01-3928	201	11	of	of	ADP
app01-3928	201	12	sending	send	VERB
app01-3928	201	13	messages	message	NOUN
app01-3928	201	14	.	.	PUNCT
app01-3928	202	1	it	it	PRON
app01-3928	202	2	allows	allow	VERB
app01-3928	202	3	to	to	PART
app01-3928	202	4	refuse	refuse	VERB
app01-3928	202	5	the	the	DET
app01-3928	202	6	message	message	NOUN
app01-3928	202	7	sending	send	VERB
app01-3928	202	8	,	,	PUNCT
app01-3928	202	9	if	if	SCONJ
app01-3928	202	10	it	it	PRON
app01-3928	202	11	is	be	AUX
app01-3928	202	12	not	not	PART
app01-3928	202	13	sent	send	VERB
app01-3928	202	14	for	for	ADP
app01-3928	202	15	some	some	DET
app01-3928	202	16	predetermined	predetermine	VERB
app01-3928	202	17	amount	amount	NOUN
app01-3928	202	18	of	of	ADP
app01-3928	202	19	time	time	NOUN
app01-3928	202	20	.	.	PUNCT
app01-3928	203	1	on	on	ADP
app01-3928	203	2	the	the	DET
app01-3928	203	3	contrary	contrary	NOUN
app01-3928	203	4	,	,	PUNCT
app01-3928	203	5	zeromq	zeromq	PROPN
app01-3928	203	6	does	do	AUX
app01-3928	203	7	not	not	PART
app01-3928	203	8	provide	provide	VERB
app01-3928	203	9	the	the	DET
app01-3928	203	10	possibility	possibility	NOUN
app01-3928	203	11	to	to	PART
app01-3928	203	12	obtain	obtain	VERB
app01-3928	203	13	information	information	NOUN
app01-3928	203	14	about	about	ADP
app01-3928	203	15	the	the	DET
app01-3928	203	16	current	current	ADJ
app01-3928	203	17	status	status	NOUN
app01-3928	203	18	of	of	ADP
app01-3928	203	19	the	the	DET
app01-3928	203	20	recipient	recipient	NOUN
app01-3928	203	21	before	before	ADP
app01-3928	203	22	sending	send	VERB
app01-3928	203	23	a	a	DET
app01-3928	203	24	message	message	NOUN
app01-3928	203	25	.	.	PUNCT
app01-3928	204	1	moreover	moreover	ADV
app01-3928	204	2	,	,	PUNCT
app01-3928	204	3	the	the	DET
app01-3928	204	4	library	library	NOUN
app01-3928	204	5	does	do	AUX
app01-3928	204	6	not	not	PART
app01-3928	204	7	allow	allow	VERB
app01-3928	204	8	to	to	PART
app01-3928	204	9	set	set	VERB
app01-3928	204	10	a	a	DET
app01-3928	204	11	timeout	timeout	NOUN
app01-3928	204	12	on	on	ADP
app01-3928	204	13	an	an	DET
app01-3928	204	14	attempt	attempt	NOUN
app01-3928	204	15	to	to	PART
app01-3928	204	16	send	send	VERB
app01-3928	204	17	a	a	DET
app01-3928	204	18	message	message	NOUN
app01-3928	204	19	.	.	PUNCT
app01-3928	205	1	thus	thus	ADV
app01-3928	205	2	,	,	PUNCT
app01-3928	205	3	in	in	ADP
app01-3928	205	4	case	case	NOUN
app01-3928	205	5	of	of	ADP
app01-3928	205	6	a	a	DET
app01-3928	205	7	fall	fall	NOUN
app01-3928	205	8	,	,	PUNCT
app01-3928	205	9	the	the	DET
app01-3928	205	10	whole	whole	ADJ
app01-3928	205	11	system	system	NOUN
app01-3928	205	12	of	of	ADP
app01-3928	205	13	robots	robot	NOUN
app01-3928	205	14	gradually	gradually	ADV
app01-3928	205	15	stops	stop	VERB
app01-3928	205	16	because	because	SCONJ
app01-3928	205	17	of	of	ADP
app01-3928	205	18	waiting	wait	VERB
app01-3928	205	19	a	a	DET
app01-3928	205	20	response	response	NOUN
app01-3928	205	21	from	from	ADP
app01-3928	205	22	each	each	DET
app01-3928	205	23	other	other	ADJ
app01-3928	205	24	.	.	PUNCT
app01-3928	206	1	the	the	DET
app01-3928	206	2	nanomsg	nanomsg	NOUN
app01-3928	206	3	library	library	NOUN
app01-3928	206	4	was	be	AUX
app01-3928	206	5	chosen	choose	VERB
app01-3928	206	6	for	for	ADP
app01-3928	206	7	use	use	NOUN
app01-3928	206	8	in	in	ADP
app01-3928	206	9	the	the	DET
app01-3928	206	10	application	application	NOUN
app01-3928	206	11	on	on	ADP
app01-3928	206	12	the	the	DET
app01-3928	206	13	basis	basis	NOUN
app01-3928	206	14	of	of	ADP
app01-3928	206	15	the	the	DET
app01-3928	206	16	above	above	ADJ
app01-3928	206	17	comparison	comparison	NOUN
app01-3928	206	18	of	of	ADP
app01-3928	206	19	the	the	DET
app01-3928	206	20	characteristics	characteristic	NOUN
app01-3928	206	21	of	of	ADP
app01-3928	206	22	the	the	DET
app01-3928	206	23	libraries	library	NOUN
app01-3928	206	24	.	.	PUNCT
app01-3928	207	1	because	because	SCONJ
app01-3928	207	2	the	the	DET
app01-3928	207	3	library	library	NOUN
app01-3928	207	4	does	do	AUX
app01-3928	207	5	n’t	not	PART
app01-3928	207	6	provide	provide	VERB
app01-3928	207	7	an	an	DET
app01-3928	207	8	implementation	implementation	NOUN
app01-3928	207	9	of	of	ADP
app01-3928	207	10	udp	udp	NOUN
app01-3928	207	11	,	,	PUNCT
app01-3928	207	12	the	the	DET
app01-3928	207	13	transport	transport	NOUN
app01-3928	207	14	protocol	protocol	NOUN
app01-3928	207	15	is	be	AUX
app01-3928	207	16	proposed	propose	VERB
app01-3928	207	17	to	to	PART
app01-3928	207	18	implement	implement	VERB
app01-3928	207	19	using	use	VERB
app01-3928	207	20	standard	standard	ADJ
app01-3928	207	21	sockets	socket	NOUN
app01-3928	207	22	.	.	PUNCT
app01-3928	208	1	4	4	X
app01-3928	208	2	.	.	NUM
app01-3928	208	3	distributed	distribute	VERB
app01-3928	208	4	exploration	exploration	NOUN
app01-3928	208	5	exploration	exploration	NOUN
app01-3928	208	6	as	as	ADP
app01-3928	208	7	a	a	DET
app01-3928	208	8	process	process	NOUN
app01-3928	208	9	of	of	ADP
app01-3928	208	10	autonomous	autonomous	ADJ
app01-3928	208	11	navigation	navigation	NOUN
app01-3928	208	12	of	of	ADP
app01-3928	208	13	a	a	DET
app01-3928	208	14	mobile	mobile	ADJ
app01-3928	208	15	robot	robot	NOUN
app01-3928	208	16	in	in	ADP
app01-3928	208	17	order	order	NOUN
app01-3928	208	18	to	to	PART
app01-3928	208	19	build	build	VERB
app01-3928	208	20	a	a	DET
app01-3928	208	21	model	model	NOUN
app01-3928	208	22	of	of	ADP
app01-3928	208	23	an	an	DET
app01-3928	208	24	a	a	DET
app01-3928	208	25	priori	priori	X
app01-3928	208	26	unknown	unknown	ADJ
app01-3928	208	27	working	work	VERB
app01-3928	208	28	environment	environment	NOUN
app01-3928	208	29	in	in	ADP
app01-3928	208	30	a	a	DET
app01-3928	208	31	shortest	short	ADJ
app01-3928	208	32	possible	possible	ADJ
app01-3928	208	33	time	time	NOUN
app01-3928	208	34	is	be	AUX
app01-3928	208	35	one	one	NUM
app01-3928	208	36	of	of	ADP
app01-3928	208	37	the	the	DET
app01-3928	208	38	fundamental	fundamental	ADJ
app01-3928	208	39	problems	problem	NOUN
app01-3928	208	40	in	in	ADP
app01-3928	208	41	mobile	mobile	ADJ
app01-3928	208	42	robotics	robotic	NOUN
app01-3928	208	43	.	.	PUNCT
app01-3928	209	1	in	in	ADP
app01-3928	209	2	general	general	ADJ
app01-3928	209	3	,	,	PUNCT
app01-3928	209	4	exploration	exploration	NOUN
app01-3928	209	5	is	be	AUX
app01-3928	209	6	an	an	DET
app01-3928	209	7	iterative	iterative	NOUN
app01-3928	209	8	process	process	NOUN
app01-3928	209	9	that	that	PRON
app01-3928	209	10	performs	perform	VERB
app01-3928	209	11	the	the	DET
app01-3928	209	12	following	follow	VERB
app01-3928	209	13	operations	operation	NOUN
app01-3928	209	14	at	at	ADP
app01-3928	209	15	each	each	DET
app01-3928	209	16	step	step	NOUN
app01-3928	209	17	:	:	PUNCT
app01-3928	209	18	the	the	DET
app01-3928	209	19	robot	robot	NOUN
app01-3928	209	20	receives	receive	VERB
app01-3928	209	21	information	information	NOUN
app01-3928	209	22	from	from	ADP
app01-3928	209	23	its	its	PRON
app01-3928	209	24	sensors	sensor	NOUN
app01-3928	209	25	,	,	PUNCT
app01-3928	209	26	updates	update	VERB
app01-3928	209	27	an	an	DET
app01-3928	209	28	internal	internal	ADJ
app01-3928	209	29	model	model	NOUN
app01-3928	209	30	of	of	ADP
app01-3928	209	31	the	the	DET
app01-3928	209	32	surrounding	surround	VERB
app01-3928	209	33	space	space	NOUN
app01-3928	209	34	on	on	ADP
app01-3928	209	35	the	the	DET
app01-3928	209	36	basis	basis	NOUN
app01-3928	209	37	of	of	ADP
app01-3928	209	38	these	these	DET
app01-3928	209	39	data	datum	NOUN
app01-3928	209	40	,	,	PUNCT
app01-3928	209	41	selects	select	VERB
app01-3928	209	42	the	the	DET
app01-3928	209	43	next	next	ADJ
app01-3928	209	44	goal	goal	NOUN
app01-3928	209	45	for	for	ADP
app01-3928	209	46	the	the	DET
app01-3928	209	47	navigation	navigation	NOUN
app01-3928	209	48	on	on	ADP
app01-3928	209	49	the	the	DET
app01-3928	209	50	basis	basis	NOUN
app01-3928	209	51	of	of	ADP
app01-3928	209	52	the	the	DET
app01-3928	209	53	current	current	ADJ
app01-3928	209	54	knowledge	knowledge	NOUN
app01-3928	209	55	,	,	PUNCT
app01-3928	209	56	and	and	CCONJ
app01-3928	209	57	gradually	gradually	ADV
app01-3928	209	58	moves	move	VERB
app01-3928	209	59	to	to	ADP
app01-3928	209	60	the	the	DET
app01-3928	209	61	selected	select	VERB
app01-3928	209	62	destination	destination	NOUN
app01-3928	209	63	.	.	PUNCT
app01-3928	210	1	the	the	DET
app01-3928	210	2	process	process	NOUN
app01-3928	210	3	continues	continue	VERB
app01-3928	210	4	until	until	SCONJ
app01-3928	210	5	there	there	PRON
app01-3928	210	6	are	be	VERB
app01-3928	210	7	no	no	DET
app01-3928	210	8	more	more	ADV
app01-3928	210	9	available	available	ADJ
app01-3928	210	10	goals	goal	NOUN
app01-3928	210	11	,	,	PUNCT
app01-3928	210	12	that	that	ADV
app01-3928	210	13	is	is	ADV
app01-3928	210	14	,	,	PUNCT
app01-3928	210	15	all	all	DET
app01-3928	210	16	areas	area	NOUN
app01-3928	210	17	of	of	ADP
app01-3928	210	18	the	the	DET
app01-3928	210	19	environment	environment	NOUN
app01-3928	210	20	will	will	AUX
app01-3928	210	21	be	be	AUX
app01-3928	210	22	explored	explore	VERB
app01-3928	210	23	[	[	X
app01-3928	210	24	34	34	NUM
app01-3928	210	25	,	,	PUNCT
app01-3928	210	26	35	35	NUM
app01-3928	210	27	]	]	PUNCT
app01-3928	210	28	.	.	PUNCT
app01-3928	211	1	the	the	DET
app01-3928	211	2	main	main	ADJ
app01-3928	211	3	source	source	NOUN
app01-3928	211	4	of	of	ADP
app01-3928	211	5	optimization	optimization	NOUN
app01-3928	211	6	is	be	AUX
app01-3928	211	7	preparation	preparation	NOUN
app01-3928	211	8	of	of	ADP
app01-3928	211	9	a	a	DET
app01-3928	211	10	set	set	NOUN
app01-3928	211	11	of	of	ADP
app01-3928	211	12	possible	possible	ADJ
app01-3928	211	13	goals	goal	NOUN
app01-3928	211	14	and	and	CCONJ
app01-3928	211	15	selection	selection	NOUN
app01-3928	211	16	of	of	ADP
app01-3928	211	17	a	a	DET
app01-3928	211	18	next	next	ADJ
app01-3928	211	19	goal	goal	NOUN
app01-3928	211	20	from	from	ADP
app01-3928	211	21	them	they	PRON
app01-3928	211	22	,	,	PUNCT
app01-3928	211	23	which	which	PRON
app01-3928	211	24	is	be	AUX
app01-3928	211	25	the	the	DET
app01-3928	211	26	most	most	ADV
app01-3928	211	27	favorable	favorable	ADJ
app01-3928	211	28	for	for	ADP
app01-3928	211	29	exploration	exploration	NOUN
app01-3928	211	30	purposes	purpose	NOUN
app01-3928	211	31	.	.	PUNCT
app01-3928	212	1	besides	besides	SCONJ
app01-3928	212	2	the	the	DET
app01-3928	212	3	tasks	task	NOUN
app01-3928	212	4	mentioned	mention	VERB
app01-3928	212	5	above	above	ADV
app01-3928	212	6	,	,	PUNCT
app01-3928	212	7	the	the	DET
app01-3928	212	8	problem	problem	NOUN
app01-3928	212	9	of	of	ADP
app01-3928	212	10	distributed	distribute	VERB
app01-3928	212	11	terrain	terrain	NOUN
app01-3928	212	12	exploration	exploration	NOUN
app01-3928	212	13	by	by	ADP
app01-3928	212	14	a	a	DET
app01-3928	212	15	multi	multi	ADJ
app01-3928	212	16	-	-	ADJ
app01-3928	212	17	robot	robot	ADJ
app01-3928	212	18	team	team	NOUN
app01-3928	212	19	requires	require	VERB
app01-3928	212	20	solving	solve	VERB
app01-3928	212	21	the	the	DET
app01-3928	212	22	problem	problem	NOUN
app01-3928	212	23	of	of	ADP
app01-3928	212	24	communication	communication	NOUN
app01-3928	212	25	between	between	ADP
app01-3928	212	26	team	team	NOUN
app01-3928	212	27	members	member	NOUN
app01-3928	212	28	and	and	CCONJ
app01-3928	212	29	the	the	DET
app01-3928	212	30	problem	problem	NOUN
app01-3928	212	31	of	of	ADP
app01-3928	212	32	coordination	coordination	NOUN
app01-3928	212	33	their	their	PRON
app01-3928	212	34	actions	action	NOUN
app01-3928	212	35	.	.	PUNCT
app01-3928	213	1	this	this	PRON
app01-3928	213	2	is	be	AUX
app01-3928	213	3	why	why	SCONJ
app01-3928	213	4	we	we	PRON
app01-3928	213	5	selected	select	VERB
app01-3928	213	6	this	this	DET
app01-3928	213	7	task	task	NOUN
app01-3928	213	8	as	as	ADP
app01-3928	213	9	a	a	DET
app01-3928	213	10	testbed	testbe	VERB
app01-3928	213	11	for	for	ADP
app01-3928	213	12	evaluation	evaluation	NOUN
app01-3928	213	13	of	of	ADP
app01-3928	213	14	the	the	DET
app01-3928	213	15	aodv	aodv	NOUN
app01-3928	213	16	routing	routing	NOUN
app01-3928	213	17	protocol	protocol	NOUN
app01-3928	213	18	.	.	PUNCT
app01-3928	214	1	information	information	NOUN
app01-3928	214	2	about	about	ADP
app01-3928	214	3	the	the	DET
app01-3928	214	4	terrain	terrain	NOUN
app01-3928	214	5	which	which	PRON
app01-3928	214	6	is	be	AUX
app01-3928	214	7	exchanged	exchange	VERB
app01-3928	214	8	between	between	ADP
app01-3928	214	9	team	team	NOUN
app01-3928	214	10	members	member	NOUN
app01-3928	214	11	and	and	CCONJ
app01-3928	214	12	the	the	DET
app01-3928	214	13	method	method	NOUN
app01-3928	214	14	of	of	ADP
app01-3928	214	15	determining	determine	VERB
app01-3928	214	16	the	the	DET
app01-3928	214	17	set	set	NOUN
app01-3928	214	18	of	of	ADP
app01-3928	214	19	possible	possible	ADJ
app01-3928	214	20	navigation	navigation	NOUN
app01-3928	214	21	goals	goal	NOUN
app01-3928	214	22	depends	depend	VERB
app01-3928	214	23	on	on	ADP
app01-3928	214	24	an	an	DET
app01-3928	214	25	exploration	exploration	NOUN
app01-3928	214	26	approach	approach	NOUN
app01-3928	214	27	that	that	PRON
app01-3928	214	28	is	be	AUX
app01-3928	214	29	selected	select	VERB
app01-3928	214	30	for	for	ADP
app01-3928	214	31	implementation	implementation	NOUN
app01-3928	214	32	.	.	PUNCT
app01-3928	215	1	frontier	frontier	NOUN
app01-3928	215	2	-	-	PUNCT
app01-3928	215	3	based	base	VERB
app01-3928	215	4	exploration	exploration	NOUN
app01-3928	215	5	[	[	PUNCT
app01-3928	215	6	34	34	NUM
app01-3928	215	7	]	]	PUNCT
app01-3928	215	8	is	be	AUX
app01-3928	215	9	chosen	choose	VERB
app01-3928	215	10	as	as	ADP
app01-3928	215	11	one	one	NUM
app01-3928	215	12	of	of	ADP
app01-3928	215	13	the	the	DET
app01-3928	215	14	most	most	ADV
app01-3928	215	15	common	common	ADJ
app01-3928	215	16	and	and	CCONJ
app01-3928	215	17	widely	widely	ADV
app01-3928	215	18	used	use	VERB
app01-3928	215	19	approaches	approach	NOUN
app01-3928	215	20	which	which	PRON
app01-3928	215	21	also	also	ADV
app01-3928	215	22	has	have	VERB
app01-3928	215	23	the	the	DET
app01-3928	215	24	extension	extension	NOUN
app01-3928	215	25	for	for	ADP
app01-3928	215	26	the	the	DET
app01-3928	215	27	case	case	NOUN
app01-3928	215	28	of	of	ADP
app01-3928	215	29	multi	multi	ADJ
app01-3928	215	30	-	-	ADJ
app01-3928	215	31	robot	robot	ADJ
app01-3928	215	32	exploration	exploration	NOUN
app01-3928	215	33	[	[	X
app01-3928	215	34	36	36	NUM
app01-3928	215	35	]	]	PUNCT
app01-3928	215	36	.	.	PUNCT
app01-3928	216	1	the	the	DET
app01-3928	216	2	approach	approach	NOUN
app01-3928	216	3	is	be	AUX
app01-3928	216	4	based	base	VERB
app01-3928	216	5	on	on	ADP
app01-3928	216	6	the	the	DET
app01-3928	216	7	concept	concept	NOUN
app01-3928	216	8	of	of	ADP
app01-3928	216	9	a	a	DET
app01-3928	216	10	frontier	frontier	NOUN
app01-3928	216	11	,	,	PUNCT
app01-3928	216	12	which	which	PRON
app01-3928	216	13	is	be	AUX
app01-3928	216	14	a	a	DET
app01-3928	216	15	boundary	boundary	NOUN
app01-3928	216	16	between	between	ADP
app01-3928	216	17	the	the	DET
app01-3928	216	18	already	already	ADV
app01-3928	216	19	known	know	VERB
app01-3928	216	20	part	part	NOUN
app01-3928	216	21	of	of	ADP
app01-3928	216	22	the	the	DET
app01-3928	216	23	terrain	terrain	NOUN
app01-3928	216	24	and	and	CCONJ
app01-3928	216	25	still	still	ADV
app01-3928	216	26	an	an	DET
app01-3928	216	27	unknown	unknown	ADJ
app01-3928	216	28	part	part	NOUN
app01-3928	216	29	.	.	PUNCT
app01-3928	217	1	the	the	DET
app01-3928	217	2	internal	internal	ADJ
app01-3928	217	3	representation	representation	NOUN
app01-3928	217	4	of	of	ADP
app01-3928	217	5	the	the	DET
app01-3928	217	6	map	map	NOUN
app01-3928	217	7	is	be	AUX
app01-3928	217	8	an	an	DET
app01-3928	217	9	occupancy	occupancy	NOUN
app01-3928	217	10	grid	grid	NOUN
app01-3928	217	11	,	,	PUNCT
app01-3928	217	12	which	which	PRON
app01-3928	217	13	uses	use	VERB
app01-3928	217	14	bayesian	bayesian	NOUN
app01-3928	217	15	based	base	VERB
app01-3928	217	16	updating	update	VERB
app01-3928	217	17	technique	technique	NOUN
app01-3928	217	18	.	.	PUNCT
app01-3928	218	1	the	the	DET
app01-3928	218	2	main	main	ADJ
app01-3928	218	3	advantage	advantage	NOUN
app01-3928	218	4	of	of	ADP
app01-3928	218	5	the	the	DET
app01-3928	218	6	environment	environment	NOUN
app01-3928	218	7	exploration	exploration	NOUN
app01-3928	218	8	by	by	ADP
app01-3928	218	9	a	a	DET
app01-3928	218	10	multi	multi	ADJ
app01-3928	218	11	-	-	ADJ
app01-3928	218	12	robot	robot	ADJ
app01-3928	218	13	team	team	NOUN
app01-3928	218	14	is	be	AUX
app01-3928	218	15	the	the	DET
app01-3928	218	16	ability	ability	NOUN
app01-3928	218	17	to	to	PART
app01-3928	218	18	easily	easily	ADV
app01-3928	218	19	share	share	VERB
app01-3928	218	20	knowledge	knowledge	NOUN
app01-3928	218	21	about	about	ADP
app01-3928	218	22	the	the	DET
app01-3928	218	23	terrain	terrain	NOUN
app01-3928	218	24	between	between	ADP
app01-3928	218	25	its	its	PRON
app01-3928	218	26	members	member	NOUN
app01-3928	218	27	.	.	PUNCT
app01-3928	219	1	exploration	exploration	NOUN
app01-3928	219	2	of	of	ADP
app01-3928	219	3	non	non	ADJ
app01-3928	219	4	-	-	ADJ
app01-3928	219	5	overlapping	overlapping	ADJ
app01-3928	219	6	areas	area	NOUN
app01-3928	219	7	by	by	ADP
app01-3928	219	8	different	different	ADJ
app01-3928	219	9	robots	robot	NOUN
app01-3928	219	10	allows	allow	VERB
app01-3928	219	11	to	to	PART
app01-3928	219	12	raise	raise	VERB
app01-3928	219	13	efficiency	efficiency	NOUN
app01-3928	219	14	of	of	ADP
app01-3928	219	15	teamwork	teamwork	NOUN
app01-3928	219	16	and	and	CCONJ
app01-3928	219	17	reduce	reduce	VERB
app01-3928	219	18	the	the	DET
app01-3928	219	19	total	total	ADJ
app01-3928	219	20	exploration	exploration	NOUN
app01-3928	219	21	time	time	NOUN
app01-3928	219	22	.	.	PUNCT
app01-3928	220	1	each	each	DET
app01-3928	220	2	robot	robot	NOUN
app01-3928	220	3	in	in	ADP
app01-3928	220	4	the	the	DET
app01-3928	220	5	team	team	NOUN
app01-3928	220	6	conducts	conduct	VERB
app01-3928	220	7	the	the	DET
app01-3928	220	8	current	current	ADJ
app01-3928	220	9	goal	goal	NOUN
app01-3928	220	10	selection	selection	NOUN
app01-3928	220	11	independently	independently	ADV
app01-3928	220	12	on	on	ADP
app01-3928	220	13	the	the	DET
app01-3928	220	14	basis	basis	NOUN
app01-3928	220	15	of	of	ADP
app01-3928	220	16	its	its	PRON
app01-3928	220	17	current	current	ADJ
app01-3928	220	18	knowledge	knowledge	NOUN
app01-3928	220	19	of	of	ADP
app01-3928	220	20	the	the	DET
app01-3928	220	21	environment	environment	NOUN
app01-3928	220	22	and	and	CCONJ
app01-3928	220	23	the	the	DET
app01-3928	220	24	goals	goal	NOUN
app01-3928	220	25	of	of	ADP
app01-3928	220	26	the	the	DET
app01-3928	220	27	other	other	ADJ
app01-3928	220	28	team	team	NOUN
app01-3928	220	29	members	member	NOUN
app01-3928	220	30	.	.	PUNCT
app01-3928	221	1	a	a	DET
app01-3928	221	2	greedy	greedy	ADJ
app01-3928	221	3	algorithm	algorithm	NOUN
app01-3928	221	4	is	be	AUX
app01-3928	221	5	chosen	choose	VERB
app01-3928	221	6	as	as	ADP
app01-3928	221	7	the	the	DET
app01-3928	221	8	most	most	ADV
app01-3928	221	9	primitive	primitive	ADJ
app01-3928	221	10	and	and	CCONJ
app01-3928	221	11	native	native	ADJ
app01-3928	221	12	approach	approach	NOUN
app01-3928	221	13	.	.	PUNCT
app01-3928	222	1	it	it	PRON
app01-3928	222	2	means	mean	VERB
app01-3928	222	3	,	,	PUNCT
app01-3928	222	4	that	that	SCONJ
app01-3928	222	5	the	the	DET
app01-3928	222	6	closest	close	ADJ
app01-3928	222	7	frontier	frontier	NOUN
app01-3928	222	8	to	to	ADP
app01-3928	222	9	the	the	DET
app01-3928	222	10	current	current	ADJ
app01-3928	222	11	position	position	NOUN
app01-3928	222	12	of	of	ADP
app01-3928	222	13	the	the	DET
app01-3928	222	14	robot	robot	NOUN
app01-3928	222	15	is	be	AUX
app01-3928	222	16	selected	select	VERB
app01-3928	222	17	as	as	ADP
app01-3928	222	18	the	the	DET
app01-3928	222	19	goal	goal	NOUN
app01-3928	222	20	.	.	PUNCT
app01-3928	223	1	in	in	ADP
app01-3928	223	2	addition	addition	NOUN
app01-3928	223	3	,	,	PUNCT
app01-3928	223	4	the	the	DET
app01-3928	223	5	selected	select	VERB
app01-3928	223	6	goal	goal	NOUN
app01-3928	223	7	should	should	AUX
app01-3928	223	8	not	not	PART
app01-3928	223	9	lie	lie	VERB
app01-3928	223	10	in	in	ADP
app01-3928	223	11	the	the	DET
app01-3928	223	12	areas	area	NOUN
app01-3928	223	13	of	of	ADP
app01-3928	223	14	the	the	DET
app01-3928	223	15	current	current	ADJ
app01-3928	223	16	goals	goal	NOUN
app01-3928	223	17	of	of	ADP
app01-3928	223	18	the	the	DET
app01-3928	223	19	other	other	ADJ
app01-3928	223	20	team	team	NOUN
app01-3928	223	21	members	member	NOUN
app01-3928	223	22	,	,	PUNCT
app01-3928	223	23	which	which	PRON
app01-3928	223	24	have	have	VERB
app01-3928	223	25	active	active	ADJ
app01-3928	223	26	communication	communication	NOUN
app01-3928	223	27	link	link	NOUN
app01-3928	223	28	to	to	ADP
app01-3928	223	29	the	the	DET
app01-3928	223	30	robot	robot	NOUN
app01-3928	223	31	.	.	PUNCT
app01-3928	224	1	after	after	ADP
app01-3928	224	2	the	the	DET
app01-3928	224	3	goal	goal	NOUN
app01-3928	224	4	selection	selection	NOUN
app01-3928	224	5	the	the	DET
app01-3928	224	6	robot	robot	NOUN
app01-3928	224	7	informs	inform	VERB
app01-3928	224	8	the	the	DET
app01-3928	224	9	others	other	NOUN
app01-3928	224	10	about	about	ADP
app01-3928	224	11	the	the	DET
app01-3928	224	12	selected	select	VERB
app01-3928	224	13	goal	goal	NOUN
app01-3928	224	14	and	and	CCONJ
app01-3928	224	15	reports	report	VERB
app01-3928	224	16	the	the	DET
app01-3928	224	17	priority	priority	NOUN
app01-3928	224	18	for	for	ADP
app01-3928	224	19	this	this	DET
app01-3928	224	20	goal	goal	NOUN
app01-3928	224	21	.	.	PUNCT
app01-3928	225	1	if	if	SCONJ
app01-3928	225	2	an	an	DET
app01-3928	225	3	other	other	ADJ
app01-3928	225	4	team	team	NOUN
app01-3928	225	5	member	member	NOUN
app01-3928	225	6	has	have	VERB
app01-3928	225	7	the	the	DET
app01-3928	225	8	goal	goal	NOUN
app01-3928	225	9	in	in	ADP
app01-3928	225	10	the	the	DET
app01-3928	225	11	same	same	ADJ
app01-3928	225	12	area	area	NOUN
app01-3928	225	13	with	with	ADP
app01-3928	225	14	a	a	DET
app01-3928	225	15	higher	high	ADJ
app01-3928	225	16	priority	priority	NOUN
app01-3928	225	17	,	,	PUNCT
app01-3928	225	18	it	it	PRON
app01-3928	225	19	sends	send	VERB
app01-3928	225	20	information	information	NOUN
app01-3928	225	21	about	about	ADP
app01-3928	225	22	its	its	PRON
app01-3928	225	23	current	current	ADJ
app01-3928	225	24	goal	goal	NOUN
app01-3928	225	25	and	and	CCONJ
app01-3928	225	26	forces	force	VERB
app01-3928	225	27	the	the	DET
app01-3928	225	28	robot	robot	NOUN
app01-3928	225	29	with	with	ADP
app01-3928	225	30	a	a	DET
app01-3928	225	31	lower	low	ADJ
app01-3928	225	32	priority	priority	NOUN
app01-3928	225	33	to	to	PART
app01-3928	225	34	choose	choose	VERB
app01-3928	225	35	another	another	DET
app01-3928	225	36	goal	goal	NOUN
app01-3928	225	37	and	and	CCONJ
app01-3928	225	38	generate	generate	VERB
app01-3928	225	39	a	a	DET
app01-3928	225	40	new	new	ADJ
app01-3928	225	41	plan	plan	NOUN
app01-3928	225	42	.	.	PUNCT
app01-3928	226	1	description	description	NOUN
app01-3928	226	2	of	of	ADP
app01-3928	226	3	the	the	DET
app01-3928	226	4	software	software	NOUN
app01-3928	226	5	architecture	architecture	NOUN
app01-3928	226	6	of	of	ADP
app01-3928	226	7	a	a	DET
app01-3928	226	8	single	single	ADJ
app01-3928	226	9	robot	robot	NOUN
app01-3928	226	10	performing	perform	VERB
app01-3928	226	11	distributed	distribute	VERB
app01-3928	226	12	exploration	exploration	NOUN
app01-3928	226	13	and	and	CCONJ
app01-3928	226	14	communicating	communicate	VERB
app01-3928	226	15	with	with	ADP
app01-3928	226	16	other	other	ADJ
app01-3928	226	17	robots	robot	NOUN
app01-3928	226	18	making	make	VERB
app01-3928	226	19	use	use	NOUN
app01-3928	226	20	of	of	ADP
app01-3928	226	21	aodv	aodv	NOUN
app01-3928	226	22	follows	follow	VERB
app01-3928	226	23	in	in	ADP
app01-3928	226	24	the	the	DET
app01-3928	226	25	next	next	ADJ
app01-3928	226	26	paragraphs	paragraph	NOUN
app01-3928	226	27	.	.	PUNCT
app01-3928	227	1	while	while	SCONJ
app01-3928	227	2	designing	design	VERB
app01-3928	227	3	the	the	DET
app01-3928	227	4	application	application	NOUN
app01-3928	227	5	structure	structure	NOUN
app01-3928	227	6	for	for	ADP
app01-3928	227	7	a	a	DET
app01-3928	227	8	single	single	ADJ
app01-3928	227	9	robot	robot	NOUN
app01-3928	227	10	it	it	PRON
app01-3928	227	11	was	be	AUX
app01-3928	227	12	assumed	assume	VERB
app01-3928	227	13	that	that	SCONJ
app01-3928	227	14	the	the	DET
app01-3928	227	15	application	application	NOUN
app01-3928	227	16	can	can	AUX
app01-3928	227	17	operate	operate	VERB
app01-3928	227	18	in	in	ADP
app01-3928	227	19	two	two	NUM
app01-3928	227	20	roles	role	NOUN
app01-3928	227	21	:	:	PUNCT
app01-3928	227	22	robot	robot	NOUN
app01-3928	227	23	and	and	CCONJ
app01-3928	227	24	display	display	NOUN
app01-3928	227	25	.	.	PUNCT
app01-3928	228	1	the	the	DET
app01-3928	228	2	application	application	NOUN
app01-3928	228	3	for	for	ADP
app01-3928	228	4	a	a	DET
app01-3928	228	5	robot	robot	NOUN
app01-3928	228	6	role	role	NOUN
app01-3928	228	7	controls	control	VERB
app01-3928	228	8	a	a	DET
app01-3928	228	9	robot	robot	NOUN
app01-3928	228	10	as	as	SCONJ
app01-3928	228	11	it	it	PRON
app01-3928	228	12	carries	carry	VERB
app01-3928	228	13	out	out	ADP
app01-3928	228	14	reading	reading	NOUN
app01-3928	228	15	of	of	ADP
app01-3928	228	16	data	datum	NOUN
app01-3928	228	17	from	from	ADP
app01-3928	228	18	its	its	PRON
app01-3928	228	19	sensors	sensor	NOUN
app01-3928	228	20	,	,	PUNCT
app01-3928	228	21	produces	produce	VERB
app01-3928	228	22	the	the	DET
app01-3928	228	23	robot	robot	NOUN
app01-3928	228	24	movement	movement	NOUN
app01-3928	228	25	in	in	ADP
app01-3928	228	26	the	the	DET
app01-3928	228	27	terrain	terrain	NOUN
app01-3928	228	28	,	,	PUNCT
app01-3928	228	29	performs	perform	VERB
app01-3928	228	30	path	path	NOUN
app01-3928	228	31	planning	planning	NOUN
app01-3928	228	32	and	and	CCONJ
app01-3928	228	33	communication	communication	NOUN
app01-3928	228	34	with	with	ADP
app01-3928	228	35	other	other	ADJ
app01-3928	228	36	team	team	NOUN
app01-3928	228	37	members	member	NOUN
app01-3928	228	38	.	.	PUNCT
app01-3928	229	1	the	the	DET
app01-3928	229	2	application	application	NOUN
app01-3928	229	3	for	for	ADP
app01-3928	229	4	a	a	DET
app01-3928	229	5	display	display	NOUN
app01-3928	229	6	role	role	NOUN
app01-3928	229	7	is	be	AUX
app01-3928	229	8	used	use	VERB
app01-3928	229	9	to	to	PART
app01-3928	229	10	monitor	monitor	VERB
app01-3928	229	11	and	and	CCONJ
app01-3928	229	12	display	display	VERB
app01-3928	229	13	the	the	DET
app01-3928	229	14	status	status	NOUN
app01-3928	229	15	of	of	ADP
app01-3928	229	16	the	the	DET
app01-3928	229	17	multi	multi	ADJ
app01-3928	229	18	-	-	ADJ
app01-3928	229	19	robot	robot	ADJ
app01-3928	229	20	exploration	exploration	NOUN
app01-3928	229	21	process	process	NOUN
app01-3928	229	22	and	and	CCONJ
app01-3928	229	23	can	can	AUX
app01-3928	229	24	vary	vary	VERB
app01-3928	229	25	from	from	ADP
app01-3928	229	26	the	the	DET
app01-3928	229	27	specific	specific	ADJ
app01-3928	229	28	implementation	implementation	NOUN
app01-3928	229	29	.	.	PUNCT
app01-3928	230	1	the	the	DET
app01-3928	230	2	application	application	NOUN
app01-3928	230	3	of	of	ADP
app01-3928	230	4	this	this	DET
app01-3928	230	5	type	type	NOUN
app01-3928	230	6	is	be	AUX
app01-3928	230	7	also	also	ADV
app01-3928	230	8	a	a	DET
app01-3928	230	9	part	part	NOUN
app01-3928	230	10	of	of	ADP
app01-3928	230	11	the	the	DET
app01-3928	230	12	mesh	mesh	NOUN
app01-3928	230	13	network	network	NOUN
app01-3928	230	14	,	,	PUNCT
app01-3928	230	15	but	but	CCONJ
app01-3928	230	16	it	it	PRON
app01-3928	230	17	does	do	AUX
app01-3928	230	18	not	not	PART
app01-3928	230	19	directly	directly	ADV
app01-3928	230	20	participate	participate	VERB
app01-3928	230	21	in	in	ADP
app01-3928	230	22	the	the	DET
app01-3928	230	23	exploration	exploration	NOUN
app01-3928	230	24	.	.	PUNCT
app01-3928	231	1	figure	figure	NOUN
app01-3928	231	2	1	1	NUM
app01-3928	231	3	.	.	PUNCT
app01-3928	231	4	proposed	propose	VERB
app01-3928	231	5	application	application	NOUN
app01-3928	231	6	structure	structure	NOUN
app01-3928	231	7	.	.	PUNCT
app01-3928	232	1	it	it	PRON
app01-3928	232	2	is	be	AUX
app01-3928	232	3	recommended	recommend	VERB
app01-3928	232	4	to	to	PART
app01-3928	232	5	use	use	VERB
app01-3928	232	6	aodv	aodv	NOUN
app01-3928	232	7	routing	routing	NOUN
app01-3928	232	8	protocol	protocol	NOUN
app01-3928	232	9	based	base	VERB
app01-3928	232	10	on	on	ADP
app01-3928	232	11	the	the	DET
app01-3928	232	12	analysis	analysis	NOUN
app01-3928	232	13	result	result	NOUN
app01-3928	232	14	of	of	ADP
app01-3928	232	15	routing	route	VERB
app01-3928	232	16	protocols	protocol	NOUN
app01-3928	232	17	22	22	NUM
app01-3928	232	18	vol	vol	NOUN
app01-3928	232	19	.	.	PUNCT
app01-3928	233	1	6/2016	6/2016	NUM
app01-3928	233	2	framework	framework	NOUN
app01-3928	233	3	for	for	ADP
app01-3928	233	4	ad	ad	X
app01-3928	233	5	hoc	hoc	X
app01-3928	233	6	network	network	NOUN
app01-3928	233	7	communication	communication	NOUN
app01-3928	233	8	in	in	ADP
app01-3928	233	9	multi	multi	ADJ
app01-3928	233	10	-	-	ADJ
app01-3928	233	11	robot	robot	ADJ
app01-3928	233	12	systems	system	NOUN
app01-3928	233	13	from	from	ADP
app01-3928	233	14	section	section	NOUN
app01-3928	233	15	2	2	NUM
app01-3928	233	16	.	.	PUNCT
app01-3928	234	1	the	the	DET
app01-3928	234	2	application	application	NOUN
app01-3928	234	3	should	should	AUX
app01-3928	234	4	have	have	VERB
app01-3928	234	5	the	the	DET
app01-3928	234	6	tools	tool	NOUN
app01-3928	234	7	to	to	PART
app01-3928	234	8	unicast	unicast	VERB
app01-3928	234	9	and	and	CCONJ
app01-3928	234	10	broadcast	broadcast	VERB
app01-3928	234	11	messages	message	NOUN
app01-3928	234	12	for	for	ADP
app01-3928	234	13	aodv	aodv	NOUN
app01-3928	234	14	implementation	implementation	NOUN
app01-3928	234	15	.	.	PUNCT
app01-3928	235	1	tcp	tcp	PROPN
app01-3928	235	2	is	be	AUX
app01-3928	235	3	the	the	DET
app01-3928	235	4	most	most	ADV
app01-3928	235	5	appropriate	appropriate	ADJ
app01-3928	235	6	protocol	protocol	NOUN
app01-3928	235	7	for	for	ADP
app01-3928	235	8	the	the	DET
app01-3928	235	9	purposes	purpose	NOUN
app01-3928	235	10	of	of	ADP
app01-3928	235	11	sending	send	VERB
app01-3928	235	12	messages	message	NOUN
app01-3928	235	13	between	between	ADP
app01-3928	235	14	robots	robot	NOUN
app01-3928	235	15	.	.	PUNCT
app01-3928	236	1	flooding	flood	VERB
app01-3928	236	2	and	and	CCONJ
app01-3928	236	3	sending	send	VERB
app01-3928	236	4	hello	hello	ADP
app01-3928	236	5	messages	message	NOUN
app01-3928	236	6	can	can	AUX
app01-3928	236	7	be	be	AUX
app01-3928	236	8	realised	realise	VERB
app01-3928	236	9	with	with	ADP
app01-3928	236	10	using	use	VERB
app01-3928	236	11	less	less	ADV
app01-3928	236	12	reliable	reliable	ADJ
app01-3928	236	13	udp	udp	NOUN
app01-3928	236	14	,	,	PUNCT
app01-3928	236	15	which	which	PRON
app01-3928	236	16	however	however	ADV
app01-3928	236	17	supports	support	VERB
app01-3928	236	18	broadcasting	broadcasting	NOUN
app01-3928	236	19	.	.	PUNCT
app01-3928	237	1	according	accord	VERB
app01-3928	237	2	to	to	ADP
app01-3928	237	3	the	the	DET
app01-3928	237	4	results	result	NOUN
app01-3928	237	5	of	of	ADP
app01-3928	237	6	a	a	DET
app01-3928	237	7	comparative	comparative	ADJ
app01-3928	237	8	analysis	analysis	NOUN
app01-3928	237	9	in	in	ADP
app01-3928	237	10	section	section	NOUN
app01-3928	237	11	3	3	NUM
app01-3928	237	12	nanomsg	nanomsg	NOUN
app01-3928	237	13	recommended	recommend	VERB
app01-3928	237	14	for	for	ADP
app01-3928	237	15	implementation	implementation	NOUN
app01-3928	237	16	as	as	ADP
app01-3928	237	17	a	a	DET
app01-3928	237	18	mom	mom	NOUN
app01-3928	237	19	.	.	PUNCT
app01-3928	238	1	thus	thus	ADV
app01-3928	238	2	,	,	PUNCT
app01-3928	238	3	the	the	DET
app01-3928	238	4	nanomsg	nanomsg	NOUN
app01-3928	238	5	library	library	NOUN
app01-3928	238	6	provides	provide	VERB
app01-3928	238	7	the	the	DET
app01-3928	238	8	transfer	transfer	NOUN
app01-3928	238	9	of	of	ADP
app01-3928	238	10	messages	message	NOUN
app01-3928	238	11	between	between	ADP
app01-3928	238	12	robots	robot	NOUN
app01-3928	238	13	via	via	ADP
app01-3928	238	14	tcp	tcp	PROPN
app01-3928	238	15	and	and	CCONJ
app01-3928	238	16	uses	use	VERB
app01-3928	238	17	in	in	ADP
app01-3928	238	18	-	-	PUNCT
app01-3928	238	19	proc	proc	NOUN
app01-3928	238	20	for	for	ADP
app01-3928	238	21	transfer	transfer	NOUN
app01-3928	238	22	of	of	ADP
app01-3928	238	23	information	information	NOUN
app01-3928	238	24	between	between	ADP
app01-3928	238	25	different	different	ADJ
app01-3928	238	26	parts	part	NOUN
app01-3928	238	27	within	within	ADP
app01-3928	238	28	the	the	DET
app01-3928	238	29	application	application	NOUN
app01-3928	238	30	itself	itself	PRON
app01-3928	238	31	.	.	PUNCT
app01-3928	239	1	because	because	SCONJ
app01-3928	239	2	this	this	DET
app01-3928	239	3	library	library	NOUN
app01-3928	239	4	does	do	AUX
app01-3928	239	5	not	not	PART
app01-3928	239	6	support	support	VERB
app01-3928	239	7	the	the	DET
app01-3928	239	8	udp	udp	NOUN
app01-3928	239	9	,	,	PUNCT
app01-3928	239	10	broadcasting	broadcasting	NOUN
app01-3928	239	11	should	should	AUX
app01-3928	239	12	be	be	AUX
app01-3928	239	13	implemented	implement	VERB
app01-3928	239	14	by	by	ADP
app01-3928	239	15	means	mean	NOUN
app01-3928	239	16	of	of	ADP
app01-3928	239	17	language	language	NOUN
app01-3928	239	18	in	in	ADP
app01-3928	239	19	which	which	PRON
app01-3928	239	20	the	the	DET
app01-3928	239	21	application	application	NOUN
app01-3928	239	22	will	will	AUX
app01-3928	239	23	be	be	AUX
app01-3928	239	24	realized	realize	VERB
app01-3928	239	25	.	.	PUNCT
app01-3928	240	1	fig	fig	NOUN
app01-3928	240	2	.	.	PUNCT
app01-3928	241	1	1	1	NUM
app01-3928	241	2	shows	show	VERB
app01-3928	241	3	the	the	DET
app01-3928	241	4	proposed	propose	VERB
app01-3928	241	5	general	general	ADJ
app01-3928	241	6	structure	structure	NOUN
app01-3928	241	7	of	of	ADP
app01-3928	241	8	the	the	DET
app01-3928	241	9	application	application	NOUN
app01-3928	241	10	,	,	PUNCT
app01-3928	241	11	and	and	CCONJ
app01-3928	241	12	describes	describe	VERB
app01-3928	241	13	the	the	DET
app01-3928	241	14	relationship	relationship	NOUN
app01-3928	241	15	between	between	ADP
app01-3928	241	16	it	it	PRON
app01-3928	241	17	and	and	CCONJ
app01-3928	241	18	the	the	DET
app01-3928	241	19	external	external	ADJ
app01-3928	241	20	environment	environment	NOUN
app01-3928	241	21	.	.	PUNCT
app01-3928	242	1	application	application	NOUN
app01-3928	242	2	operations	operation	NOUN
app01-3928	242	3	have	have	VERB
app01-3928	242	4	different	different	ADJ
app01-3928	242	5	frequency	frequency	NOUN
app01-3928	242	6	of	of	ADP
app01-3928	242	7	launching	launching	NOUN
app01-3928	242	8	and	and	CCONJ
app01-3928	242	9	some	some	PRON
app01-3928	242	10	of	of	ADP
app01-3928	242	11	them	they	PRON
app01-3928	242	12	can	can	AUX
app01-3928	242	13	be	be	AUX
app01-3928	242	14	called	call	VERB
app01-3928	242	15	asynchronously	asynchronously	ADJ
app01-3928	242	16	.	.	PUNCT
app01-3928	243	1	e.g.	e.g.	ADV
app01-3928	243	2	,	,	PUNCT
app01-3928	243	3	plan	plan	NOUN
app01-3928	243	4	generation	generation	NOUN
app01-3928	243	5	usually	usually	ADV
app01-3928	243	6	runs	run	VERB
app01-3928	243	7	once	once	ADV
app01-3928	243	8	per	per	ADP
app01-3928	243	9	two	two	NUM
app01-3928	243	10	seconds	second	NOUN
app01-3928	243	11	or	or	CCONJ
app01-3928	243	12	on	on	ADP
app01-3928	243	13	the	the	DET
app01-3928	243	14	request	request	NOUN
app01-3928	243	15	from	from	ADP
app01-3928	243	16	the	the	DET
app01-3928	243	17	other	other	ADJ
app01-3928	243	18	robot	robot	NOUN
app01-3928	243	19	.	.	PUNCT
app01-3928	244	1	a	a	DET
app01-3928	244	2	command	command	NOUN
app01-3928	244	3	to	to	PART
app01-3928	244	4	control	control	VERB
app01-3928	244	5	robot	robot	NOUN
app01-3928	244	6	movement	movement	NOUN
app01-3928	244	7	can	can	AUX
app01-3928	244	8	be	be	AUX
app01-3928	244	9	sent	send	VERB
app01-3928	244	10	every	every	DET
app01-3928	244	11	100	100	NUM
app01-3928	244	12	milliseconds	millisecond	NOUN
app01-3928	244	13	.	.	PUNCT
app01-3928	245	1	the	the	DET
app01-3928	245	2	optimal	optimal	ADJ
app01-3928	245	3	frequency	frequency	NOUN
app01-3928	245	4	of	of	ADP
app01-3928	245	5	sending	send	VERB
app01-3928	245	6	the	the	DET
app01-3928	245	7	heartbeat	heartbeat	NOUN
app01-3928	245	8	for	for	ADP
app01-3928	245	9	the	the	DET
app01-3928	245	10	purposes	purpose	NOUN
app01-3928	245	11	of	of	ADP
app01-3928	245	12	aodv	aodv	NOUN
app01-3928	245	13	is	be	AUX
app01-3928	245	14	1	1	NUM
app01-3928	245	15	second	second	ADJ
app01-3928	245	16	.	.	PUNCT
app01-3928	246	1	moreover	moreover	ADV
app01-3928	246	2	,	,	PUNCT
app01-3928	246	3	it	it	PRON
app01-3928	246	4	is	be	AUX
app01-3928	246	5	desirable	desirable	ADJ
app01-3928	246	6	to	to	PART
app01-3928	246	7	receive	receive	VERB
app01-3928	246	8	messages	message	NOUN
app01-3928	246	9	from	from	ADP
app01-3928	246	10	the	the	DET
app01-3928	246	11	other	other	ADJ
app01-3928	246	12	robots	robot	NOUN
app01-3928	246	13	instantly	instantly	ADV
app01-3928	246	14	.	.	PUNCT
app01-3928	247	1	message	message	NOUN
app01-3928	247	2	sending	send	VERB
app01-3928	247	3	is	be	AUX
app01-3928	247	4	also	also	ADV
app01-3928	247	5	necessary	necessary	ADJ
app01-3928	247	6	to	to	PART
app01-3928	247	7	make	make	VERB
app01-3928	247	8	immediately	immediately	ADV
app01-3928	247	9	to	to	PART
app01-3928	247	10	reduce	reduce	VERB
app01-3928	247	11	the	the	DET
app01-3928	247	12	overall	overall	ADJ
app01-3928	247	13	time	time	NOUN
app01-3928	247	14	of	of	ADP
app01-3928	247	15	the	the	DET
app01-3928	247	16	terrain	terrain	NOUN
app01-3928	247	17	exploration	exploration	NOUN
app01-3928	247	18	.	.	PUNCT
app01-3928	248	1	this	this	PRON
app01-3928	248	2	means	mean	VERB
app01-3928	248	3	that	that	SCONJ
app01-3928	248	4	the	the	DET
app01-3928	248	5	designed	design	VERB
app01-3928	248	6	application	application	NOUN
app01-3928	248	7	could	could	AUX
app01-3928	248	8	not	not	PART
app01-3928	248	9	be	be	AUX
app01-3928	248	10	structured	structure	VERB
app01-3928	248	11	in	in	ADP
app01-3928	248	12	a	a	DET
app01-3928	248	13	single	single	ADJ
app01-3928	248	14	loop	loop	NOUN
app01-3928	248	15	.	.	PUNCT
app01-3928	249	1	for	for	ADP
app01-3928	249	2	these	these	DET
app01-3928	249	3	reasons	reason	NOUN
app01-3928	249	4	,	,	PUNCT
app01-3928	249	5	the	the	DET
app01-3928	249	6	structure	structure	NOUN
app01-3928	249	7	is	be	AUX
app01-3928	249	8	divided	divide	VERB
app01-3928	249	9	into	into	ADP
app01-3928	249	10	5	5	NUM
app01-3928	249	11	logical	logical	ADJ
app01-3928	249	12	parts	part	NOUN
app01-3928	249	13	,	,	PUNCT
app01-3928	249	14	which	which	PRON
app01-3928	249	15	can	can	AUX
app01-3928	249	16	be	be	AUX
app01-3928	249	17	implemented	implement	VERB
app01-3928	249	18	as	as	ADP
app01-3928	249	19	threads	thread	NOUN
app01-3928	249	20	:	:	PUNCT
app01-3928	249	21	motion	motion	NOUN
app01-3928	249	22	control	control	NOUN
app01-3928	249	23	/	/	SYM
app01-3928	249	24	visualization	visualization	NOUN
app01-3928	249	25	,	,	PUNCT
app01-3928	249	26	path	path	NOUN
app01-3928	249	27	planning	planning	NOUN
app01-3928	249	28	,	,	PUNCT
app01-3928	249	29	timer	timer	NOUN
app01-3928	249	30	,	,	PUNCT
app01-3928	249	31	message	message	NOUN
app01-3928	249	32	processing	processing	NOUN
app01-3928	249	33	and	and	CCONJ
app01-3928	249	34	inbox	inbox	NOUN
app01-3928	249	35	messages	message	NOUN
app01-3928	249	36	part	part	NOUN
app01-3928	249	37	.	.	PUNCT
app01-3928	250	1	these	these	DET
app01-3928	250	2	parts	part	NOUN
app01-3928	250	3	of	of	ADP
app01-3928	250	4	the	the	DET
app01-3928	250	5	application	application	NOUN
app01-3928	250	6	share	share	NOUN
app01-3928	250	7	three	three	NUM
app01-3928	250	8	data	datum	NOUN
app01-3928	250	9	structures	structure	NOUN
app01-3928	250	10	:	:	PUNCT
app01-3928	250	11	map	map	NOUN
app01-3928	250	12	,	,	PUNCT
app01-3928	250	13	current	current	ADJ
app01-3928	250	14	plan	plan	NOUN
app01-3928	250	15	and	and	CCONJ
app01-3928	250	16	scans	scan	NOUN
app01-3928	250	17	archive	archive	NOUN
app01-3928	250	18	.	.	PUNCT
app01-3928	251	1	map	map	NOUN
app01-3928	251	2	keeps	keep	VERB
app01-3928	251	3	an	an	DET
app01-3928	251	4	internal	internal	ADJ
app01-3928	251	5	representation	representation	NOUN
app01-3928	251	6	of	of	ADP
app01-3928	251	7	the	the	DET
app01-3928	251	8	application	application	NOUN
app01-3928	251	9	’s	’s	PART
app01-3928	251	10	view	view	NOUN
app01-3928	251	11	about	about	ADP
app01-3928	251	12	the	the	DET
app01-3928	251	13	environment	environment	NOUN
app01-3928	251	14	and	and	CCONJ
app01-3928	251	15	depends	depend	VERB
app01-3928	251	16	on	on	ADP
app01-3928	251	17	the	the	DET
app01-3928	251	18	selected	select	VERB
app01-3928	251	19	type	type	NOUN
app01-3928	251	20	of	of	ADP
app01-3928	251	21	the	the	DET
app01-3928	251	22	exploration	exploration	NOUN
app01-3928	251	23	.	.	PUNCT
app01-3928	252	1	in	in	ADP
app01-3928	252	2	the	the	DET
app01-3928	252	3	case	case	NOUN
app01-3928	252	4	of	of	ADP
app01-3928	252	5	frontier	frontier	NOUN
app01-3928	252	6	-	-	PUNCT
app01-3928	252	7	based	base	VERB
app01-3928	252	8	exploration	exploration	NOUN
app01-3928	252	9	,	,	PUNCT
app01-3928	252	10	the	the	DET
app01-3928	252	11	map	map	NOUN
app01-3928	252	12	will	will	AUX
app01-3928	252	13	be	be	AUX
app01-3928	252	14	in	in	ADP
app01-3928	252	15	the	the	DET
app01-3928	252	16	form	form	NOUN
app01-3928	252	17	of	of	ADP
app01-3928	252	18	the	the	DET
app01-3928	252	19	occupancy	occupancy	NOUN
app01-3928	252	20	grid	grid	NOUN
app01-3928	252	21	.	.	PUNCT
app01-3928	253	1	current	current	ADJ
app01-3928	253	2	plan	plan	NOUN
app01-3928	253	3	is	be	AUX
app01-3928	253	4	the	the	DET
app01-3928	253	5	path	path	NOUN
app01-3928	253	6	to	to	ADP
app01-3928	253	7	a	a	DET
app01-3928	253	8	goal	goal	NOUN
app01-3928	253	9	selected	select	VERB
app01-3928	253	10	at	at	ADP
app01-3928	253	11	this	this	DET
app01-3928	253	12	iteration	iteration	NOUN
app01-3928	253	13	of	of	ADP
app01-3928	253	14	the	the	DET
app01-3928	253	15	exploration	exploration	NOUN
app01-3928	253	16	process	process	NOUN
app01-3928	253	17	in	in	ADP
app01-3928	253	18	the	the	DET
app01-3928	253	19	form	form	NOUN
app01-3928	253	20	of	of	ADP
app01-3928	253	21	a	a	DET
app01-3928	253	22	polyline	polyline	NOUN
app01-3928	253	23	.	.	PUNCT
app01-3928	254	1	scans	scan	NOUN
app01-3928	254	2	archive	archive	NOUN
app01-3928	254	3	is	be	AUX
app01-3928	254	4	a	a	DET
app01-3928	254	5	data	data	NOUN
app01-3928	254	6	structure	structure	NOUN
app01-3928	254	7	that	that	PRON
app01-3928	254	8	contains	contain	VERB
app01-3928	254	9	scans	scan	NOUN
app01-3928	254	10	received	receive	VERB
app01-3928	254	11	from	from	ADP
app01-3928	254	12	sensors	sensor	NOUN
app01-3928	254	13	of	of	ADP
app01-3928	254	14	any	any	DET
app01-3928	254	15	robot	robot	NOUN
app01-3928	254	16	of	of	ADP
app01-3928	254	17	the	the	DET
app01-3928	254	18	team	team	NOUN
app01-3928	254	19	.	.	PUNCT
app01-3928	255	1	that	that	PRON
app01-3928	255	2	is	is	ADV
app01-3928	255	3	,	,	PUNCT
app01-3928	255	4	the	the	DET
app01-3928	255	5	structure	structure	NOUN
app01-3928	255	6	stores	store	NOUN
app01-3928	255	7	local	local	ADJ
app01-3928	255	8	maps	map	NOUN
app01-3928	255	9	created	create	VERB
app01-3928	255	10	by	by	ADP
app01-3928	255	11	the	the	DET
app01-3928	255	12	robot	robot	NOUN
app01-3928	255	13	and	and	CCONJ
app01-3928	255	14	local	local	ADJ
app01-3928	255	15	maps	map	NOUN
app01-3928	255	16	created	create	VERB
app01-3928	255	17	by	by	ADP
app01-3928	255	18	other	other	ADJ
app01-3928	255	19	robots	robot	NOUN
app01-3928	255	20	and	and	CCONJ
app01-3928	255	21	transmitted	transmit	VERB
app01-3928	255	22	via	via	ADP
app01-3928	255	23	flooding	flooding	NOUN
app01-3928	255	24	.	.	PUNCT
app01-3928	256	1	the	the	DET
app01-3928	256	2	principle	principle	NOUN
app01-3928	256	3	of	of	ADP
app01-3928	256	4	the	the	DET
app01-3928	256	5	transfer	transfer	NOUN
app01-3928	256	6	of	of	ADP
app01-3928	256	7	local	local	ADJ
app01-3928	256	8	maps	map	NOUN
app01-3928	256	9	between	between	ADP
app01-3928	256	10	robots	robot	NOUN
app01-3928	256	11	during	during	ADP
app01-3928	256	12	the	the	DET
app01-3928	256	13	terrain	terrain	NOUN
app01-3928	256	14	exploration	exploration	NOUN
app01-3928	256	15	of	of	ADP
app01-3928	256	16	a	a	DET
app01-3928	256	17	multi	multi	ADJ
app01-3928	256	18	-	-	ADJ
app01-3928	256	19	robot	robot	ADJ
app01-3928	256	20	team	team	NOUN
app01-3928	256	21	is	be	AUX
app01-3928	256	22	described	describe	VERB
app01-3928	256	23	in	in	ADP
app01-3928	256	24	[	[	X
app01-3928	256	25	36	36	NUM
app01-3928	256	26	]	]	PUNCT
app01-3928	256	27	.	.	PUNCT
app01-3928	257	1	the	the	DET
app01-3928	257	2	application	application	NOUN
app01-3928	257	3	for	for	ADP
app01-3928	257	4	a	a	DET
app01-3928	257	5	robot	robot	NOUN
app01-3928	257	6	role	role	NOUN
app01-3928	257	7	is	be	AUX
app01-3928	257	8	determined	determine	VERB
app01-3928	257	9	by	by	ADP
app01-3928	257	10	using	use	VERB
app01-3928	257	11	the	the	DET
app01-3928	257	12	motion	motion	NOUN
app01-3928	257	13	control	control	NOUN
app01-3928	257	14	thread	thread	NOUN
app01-3928	257	15	.	.	PUNCT
app01-3928	258	1	it	it	PRON
app01-3928	258	2	is	be	AUX
app01-3928	258	3	responsible	responsible	ADJ
app01-3928	258	4	for	for	ADP
app01-3928	258	5	receiving	receive	VERB
app01-3928	258	6	the	the	DET
app01-3928	258	7	current	current	ADJ
app01-3928	258	8	plan	plan	NOUN
app01-3928	258	9	,	,	PUNCT
app01-3928	258	10	sending	send	VERB
app01-3928	258	11	signals	signal	NOUN
app01-3928	258	12	to	to	ADP
app01-3928	258	13	the	the	DET
app01-3928	258	14	robot	robot	NOUN
app01-3928	258	15	motors	motor	NOUN
app01-3928	258	16	for	for	ADP
app01-3928	258	17	movement	movement	NOUN
app01-3928	258	18	to	to	ADP
app01-3928	258	19	the	the	DET
app01-3928	258	20	next	next	ADJ
app01-3928	258	21	selected	select	VERB
app01-3928	258	22	goal	goal	NOUN
app01-3928	258	23	,	,	PUNCT
app01-3928	258	24	using	use	VERB
app01-3928	258	25	the	the	DET
app01-3928	258	26	robot	robot	NOUN
app01-3928	258	27	sensors	sensor	NOUN
app01-3928	258	28	to	to	PART
app01-3928	258	29	obtain	obtain	VERB
app01-3928	258	30	scans	scan	NOUN
app01-3928	258	31	,	,	PUNCT
app01-3928	258	32	which	which	PRON
app01-3928	258	33	are	be	AUX
app01-3928	258	34	then	then	ADV
app01-3928	258	35	stored	store	VERB
app01-3928	258	36	in	in	ADP
app01-3928	258	37	the	the	DET
app01-3928	258	38	scans	scan	NOUN
app01-3928	258	39	archive	archive	NOUN
app01-3928	258	40	and	and	CCONJ
app01-3928	258	41	receiving	receive	VERB
app01-3928	258	42	new	new	ADJ
app01-3928	258	43	scans	scan	NOUN
app01-3928	258	44	from	from	ADP
app01-3928	258	45	the	the	DET
app01-3928	258	46	scans	scan	NOUN
app01-3928	258	47	archive	archive	NOUN
app01-3928	258	48	received	receive	VERB
app01-3928	258	49	from	from	ADP
app01-3928	258	50	other	other	ADJ
app01-3928	258	51	robots	robot	NOUN
app01-3928	258	52	.	.	PUNCT
app01-3928	259	1	finally	finally	ADV
app01-3928	259	2	,	,	PUNCT
app01-3928	259	3	the	the	DET
app01-3928	259	4	thread	thread	NOUN
app01-3928	259	5	conducts	conduct	VERB
app01-3928	259	6	a	a	DET
app01-3928	259	7	map	map	NOUN
app01-3928	259	8	update	update	NOUN
app01-3928	259	9	on	on	ADP
app01-3928	259	10	the	the	DET
app01-3928	259	11	basis	basis	NOUN
app01-3928	259	12	of	of	ADP
app01-3928	259	13	these	these	DET
app01-3928	259	14	data	datum	NOUN
app01-3928	259	15	.	.	PUNCT
app01-3928	260	1	if	if	SCONJ
app01-3928	260	2	the	the	DET
app01-3928	260	3	application	application	NOUN
app01-3928	260	4	is	be	AUX
app01-3928	260	5	launched	launch	VERB
app01-3928	260	6	for	for	ADP
app01-3928	260	7	the	the	DET
app01-3928	260	8	purpose	purpose	NOUN
app01-3928	260	9	of	of	ADP
app01-3928	260	10	visualization	visualization	NOUN
app01-3928	260	11	of	of	ADP
app01-3928	260	12	the	the	DET
app01-3928	260	13	exploration	exploration	NOUN
app01-3928	260	14	process	process	NOUN
app01-3928	260	15	,	,	PUNCT
app01-3928	260	16	it	it	PRON
app01-3928	260	17	uses	use	VERB
app01-3928	260	18	a	a	DET
app01-3928	260	19	visualization	visualization	NOUN
app01-3928	260	20	thread	thread	NOUN
app01-3928	260	21	.	.	PUNCT
app01-3928	261	1	the	the	DET
app01-3928	261	2	application	application	NOUN
app01-3928	261	3	of	of	ADP
app01-3928	261	4	this	this	DET
app01-3928	261	5	type	type	NOUN
app01-3928	261	6	does	do	AUX
app01-3928	261	7	not	not	PART
app01-3928	261	8	create	create	VERB
app01-3928	261	9	its	its	PRON
app01-3928	261	10	own	own	ADJ
app01-3928	261	11	scans	scan	NOUN
app01-3928	261	12	,	,	PUNCT
app01-3928	261	13	so	so	SCONJ
app01-3928	261	14	the	the	DET
app01-3928	261	15	scans	scan	NOUN
app01-3928	261	16	archive	archive	NOUN
app01-3928	261	17	contains	contain	VERB
app01-3928	261	18	only	only	ADV
app01-3928	261	19	local	local	ADJ
app01-3928	261	20	maps	map	NOUN
app01-3928	261	21	received	receive	VERB
app01-3928	261	22	from	from	ADP
app01-3928	261	23	the	the	DET
app01-3928	261	24	robots	robot	NOUN
app01-3928	261	25	.	.	PUNCT
app01-3928	262	1	this	this	DET
app01-3928	262	2	thread	thread	NOUN
app01-3928	262	3	uses	use	VERB
app01-3928	262	4	them	they	PRON
app01-3928	262	5	to	to	PART
app01-3928	262	6	update	update	VERB
app01-3928	262	7	the	the	DET
app01-3928	262	8	map	map	NOUN
app01-3928	262	9	,	,	PUNCT
app01-3928	262	10	which	which	PRON
app01-3928	262	11	is	be	AUX
app01-3928	262	12	displayed	display	VERB
app01-3928	262	13	on	on	ADP
app01-3928	262	14	the	the	DET
app01-3928	262	15	screen	screen	NOUN
app01-3928	262	16	after	after	ADP
app01-3928	262	17	that	that	PRON
app01-3928	262	18	.	.	PUNCT
app01-3928	263	1	the	the	DET
app01-3928	263	2	path	path	NOUN
app01-3928	263	3	planning	planning	NOUN
app01-3928	263	4	thread	thread	NOUN
app01-3928	263	5	is	be	AUX
app01-3928	263	6	the	the	DET
app01-3928	263	7	main	main	ADJ
app01-3928	263	8	component	component	NOUN
app01-3928	263	9	of	of	ADP
app01-3928	263	10	each	each	DET
app01-3928	263	11	iteration	iteration	NOUN
app01-3928	263	12	of	of	ADP
app01-3928	263	13	the	the	DET
app01-3928	263	14	terrain	terrain	NOUN
app01-3928	263	15	exploration	exploration	NOUN
app01-3928	263	16	process	process	NOUN
app01-3928	263	17	.	.	PUNCT
app01-3928	264	1	this	this	DET
app01-3928	264	2	thread	thread	NOUN
app01-3928	264	3	selects	select	VERB
app01-3928	264	4	the	the	DET
app01-3928	264	5	next	next	ADJ
app01-3928	264	6	goal	goal	NOUN
app01-3928	264	7	for	for	ADP
app01-3928	264	8	the	the	DET
app01-3928	264	9	motion	motion	NOUN
app01-3928	264	10	and	and	CCONJ
app01-3928	264	11	makes	make	VERB
app01-3928	264	12	the	the	DET
app01-3928	264	13	path	path	NOUN
app01-3928	264	14	to	to	ADP
app01-3928	264	15	it	it	PRON
app01-3928	264	16	.	.	PUNCT
app01-3928	265	1	this	this	DET
app01-3928	265	2	plan	plan	NOUN
app01-3928	265	3	is	be	AUX
app01-3928	265	4	written	write	VERB
app01-3928	265	5	to	to	ADP
app01-3928	265	6	the	the	DET
app01-3928	265	7	shared	share	VERB
app01-3928	265	8	structure	structure	NOUN
app01-3928	265	9	.	.	PUNCT
app01-3928	266	1	the	the	DET
app01-3928	266	2	thread	thread	NOUN
app01-3928	266	3	uses	use	VERB
app01-3928	266	4	the	the	DET
app01-3928	266	5	map	map	NOUN
app01-3928	266	6	to	to	PART
app01-3928	266	7	plan	plan	VERB
app01-3928	266	8	.	.	PUNCT
app01-3928	267	1	the	the	DET
app01-3928	267	2	application	application	NOUN
app01-3928	267	3	uses	use	VERB
app01-3928	267	4	a	a	DET
app01-3928	267	5	timer	timer	NOUN
app01-3928	267	6	to	to	PART
app01-3928	267	7	generate	generate	VERB
app01-3928	267	8	the	the	DET
app01-3928	267	9	plan	plan	NOUN
app01-3928	267	10	after	after	ADP
app01-3928	267	11	a	a	DET
app01-3928	267	12	certain	certain	ADJ
app01-3928	267	13	predetermined	predetermine	VERB
app01-3928	267	14	period	period	NOUN
app01-3928	267	15	.	.	PUNCT
app01-3928	268	1	the	the	DET
app01-3928	268	2	timer	timer	NOUN
app01-3928	268	3	is	be	AUX
app01-3928	268	4	located	locate	VERB
app01-3928	268	5	in	in	ADP
app01-3928	268	6	the	the	DET
app01-3928	268	7	timer	timer	NOUN
app01-3928	268	8	thread	thread	NOUN
app01-3928	268	9	.	.	PUNCT
app01-3928	269	1	the	the	DET
app01-3928	269	2	message	message	NOUN
app01-3928	269	3	processing	processing	NOUN
app01-3928	269	4	thread	thread	NOUN
app01-3928	269	5	is	be	AUX
app01-3928	269	6	the	the	DET
app01-3928	269	7	main	main	ADJ
app01-3928	269	8	connection	connection	NOUN
app01-3928	269	9	between	between	ADP
app01-3928	269	10	the	the	DET
app01-3928	269	11	robot	robot	NOUN
app01-3928	269	12	and	and	CCONJ
app01-3928	269	13	the	the	DET
app01-3928	269	14	rest	rest	NOUN
app01-3928	269	15	of	of	ADP
app01-3928	269	16	the	the	DET
app01-3928	269	17	team	team	NOUN
app01-3928	269	18	.	.	PUNCT
app01-3928	270	1	it	it	PRON
app01-3928	270	2	is	be	AUX
app01-3928	270	3	responsible	responsible	ADJ
app01-3928	270	4	for	for	ADP
app01-3928	270	5	sending	send	VERB
app01-3928	270	6	messages	message	NOUN
app01-3928	270	7	to	to	ADP
app01-3928	270	8	other	other	ADJ
app01-3928	270	9	robots	robot	NOUN
app01-3928	270	10	about	about	ADP
app01-3928	270	11	a	a	DET
app01-3928	270	12	new	new	ADJ
app01-3928	270	13	generated	generate	VERB
app01-3928	270	14	path	path	NOUN
app01-3928	270	15	or	or	CCONJ
app01-3928	270	16	a	a	DET
app01-3928	270	17	new	new	ADJ
app01-3928	270	18	laser	laser	NOUN
app01-3928	270	19	scan	scan	NOUN
app01-3928	270	20	.	.	PUNCT
app01-3928	271	1	it	it	PRON
app01-3928	271	2	also	also	ADV
app01-3928	271	3	receives	receive	VERB
app01-3928	271	4	messages	message	NOUN
app01-3928	271	5	from	from	ADP
app01-3928	271	6	the	the	DET
app01-3928	271	7	inbox	inbox	NOUN
app01-3928	271	8	messages	message	NOUN
app01-3928	271	9	thread	thread	NOUN
app01-3928	271	10	.	.	PUNCT
app01-3928	272	1	the	the	DET
app01-3928	272	2	inbox	inbox	NOUN
app01-3928	272	3	messages	message	NOUN
app01-3928	272	4	thread	thread	NOUN
app01-3928	272	5	deals	deal	NOUN
app01-3928	272	6	with	with	ADP
app01-3928	272	7	receiving	receive	VERB
app01-3928	272	8	messages	message	NOUN
app01-3928	272	9	from	from	ADP
app01-3928	272	10	other	other	ADJ
app01-3928	272	11	team	team	NOUN
app01-3928	272	12	members	member	NOUN
app01-3928	272	13	and	and	CCONJ
app01-3928	272	14	sending	send	VERB
app01-3928	272	15	them	they	PRON
app01-3928	272	16	in	in	ADP
app01-3928	272	17	the	the	DET
app01-3928	272	18	messages	message	NOUN
app01-3928	272	19	processing	processing	NOUN
app01-3928	272	20	thread	thread	NOUN
app01-3928	272	21	.	.	PUNCT
app01-3928	273	1	5	5	X
app01-3928	273	2	.	.	X
app01-3928	273	3	experimental	experimental	ADJ
app01-3928	273	4	results	result	NOUN
app01-3928	273	5	for	for	ADP
app01-3928	273	6	functional	functional	ADJ
app01-3928	273	7	testing	testing	NOUN
app01-3928	273	8	of	of	ADP
app01-3928	273	9	the	the	DET
app01-3928	273	10	proposed	propose	VERB
app01-3928	273	11	framework	framework	NOUN
app01-3928	273	12	,	,	PUNCT
app01-3928	273	13	the	the	DET
app01-3928	273	14	application	application	NOUN
app01-3928	273	15	of	of	ADP
app01-3928	273	16	a	a	DET
app01-3928	273	17	multi	multi	ADJ
app01-3928	273	18	-	-	ADJ
app01-3928	273	19	robot	robot	ADJ
app01-3928	273	20	team	team	NOUN
app01-3928	273	21	member	member	NOUN
app01-3928	273	22	was	be	AUX
app01-3928	273	23	implemented	implement	VERB
app01-3928	273	24	.	.	PUNCT
app01-3928	274	1	it	it	PRON
app01-3928	274	2	is	be	AUX
app01-3928	274	3	implemented	implement	VERB
app01-3928	274	4	in	in	ADP
app01-3928	274	5	c++	c++	NOUN
app01-3928	274	6	and	and	CCONJ
app01-3928	274	7	simulates	simulate	VERB
app01-3928	274	8	the	the	DET
app01-3928	274	9	work	work	NOUN
app01-3928	274	10	of	of	ADP
app01-3928	274	11	an	an	DET
app01-3928	274	12	exploration	exploration	NOUN
app01-3928	274	13	robot	robot	NOUN
app01-3928	274	14	for	for	ADP
app01-3928	274	15	experimental	experimental	ADJ
app01-3928	274	16	verification	verification	NOUN
app01-3928	274	17	of	of	ADP
app01-3928	274	18	the	the	DET
app01-3928	274	19	effectiveness	effectiveness	NOUN
app01-3928	274	20	of	of	ADP
app01-3928	274	21	the	the	DET
app01-3928	274	22	proposed	propose	VERB
app01-3928	274	23	application	application	NOUN
app01-3928	274	24	structure	structure	NOUN
app01-3928	274	25	.	.	PUNCT
app01-3928	275	1	it	it	PRON
app01-3928	275	2	imitates	imitate	VERB
app01-3928	275	3	operations	operation	NOUN
app01-3928	275	4	of	of	ADP
app01-3928	275	5	the	the	DET
app01-3928	275	6	real	real	ADJ
app01-3928	275	7	robot	robot	NOUN
app01-3928	275	8	equipped	equip	VERB
app01-3928	275	9	with	with	ADP
app01-3928	275	10	a	a	DET
app01-3928	275	11	laser	laser	NOUN
app01-3928	275	12	range	range	NOUN
app01-3928	275	13	-	-	PUNCT
app01-3928	275	14	finder	finder	NOUN
app01-3928	275	15	.	.	PUNCT
app01-3928	276	1	the	the	DET
app01-3928	276	2	robots	robot	NOUN
app01-3928	276	3	are	be	AUX
app01-3928	276	4	controlled	control	VERB
app01-3928	276	5	by	by	ADP
app01-3928	276	6	a	a	DET
app01-3928	276	7	simple	simple	ADJ
app01-3928	276	8	controller	controller	NOUN
app01-3928	276	9	which	which	PRON
app01-3928	276	10	guides	guide	VERB
app01-3928	276	11	the	the	DET
app01-3928	276	12	robot	robot	NOUN
app01-3928	276	13	exactly	exactly	ADV
app01-3928	276	14	along	along	ADP
app01-3928	276	15	a	a	DET
app01-3928	276	16	planned	plan	VERB
app01-3928	276	17	path	path	NOUN
app01-3928	276	18	with	with	ADP
app01-3928	276	19	a	a	DET
app01-3928	276	20	constant	constant	ADJ
app01-3928	276	21	speed	speed	NOUN
app01-3928	276	22	.	.	PUNCT
app01-3928	277	1	ray	ray	NOUN
app01-3928	277	2	casting	casting	NOUN
app01-3928	277	3	was	be	AUX
app01-3928	277	4	used	use	VERB
app01-3928	277	5	to	to	PART
app01-3928	277	6	simulated	simulated	VERB
app01-3928	277	7	a	a	DET
app01-3928	277	8	laser	laser	NOUN
app01-3928	277	9	range	range	NOUN
app01-3928	277	10	-	-	PUNCT
app01-3928	277	11	finder	finder	NOUN
app01-3928	277	12	with	with	ADP
app01-3928	277	13	no	no	DET
app01-3928	277	14	noise	noise	NOUN
app01-3928	277	15	incorporated	incorporate	VERB
app01-3928	277	16	.	.	PUNCT
app01-3928	278	1	behavior	behavior	NOUN
app01-3928	278	2	and	and	CCONJ
app01-3928	278	3	properties	property	NOUN
app01-3928	278	4	of	of	ADP
app01-3928	278	5	the	the	DET
app01-3928	278	6	implemented	implement	VERB
app01-3928	278	7	application	application	NOUN
app01-3928	278	8	were	be	AUX
app01-3928	278	9	experimentally	experimentally	ADV
app01-3928	278	10	evaluated	evaluate	VERB
app01-3928	278	11	and	and	CCONJ
app01-3928	278	12	its	its	PRON
app01-3928	278	13	characteristics	characteristic	NOUN
app01-3928	278	14	were	be	AUX
app01-3928	278	15	compared	compare	VERB
app01-3928	278	16	with	with	ADP
app01-3928	278	17	a	a	DET
app01-3928	278	18	single	single	ADJ
app01-3928	278	19	-	-	PUNCT
app01-3928	278	20	robot	robot	NOUN
app01-3928	278	21	exploration	exploration	NOUN
app01-3928	278	22	.	.	PUNCT
app01-3928	279	1	the	the	DET
app01-3928	279	2	experiments	experiment	NOUN
app01-3928	279	3	were	be	AUX
app01-3928	279	4	conducted	conduct	VERB
app01-3928	279	5	using	use	VERB
app01-3928	279	6	a	a	DET
app01-3928	279	7	device	device	NOUN
app01-3928	279	8	which	which	PRON
app01-3928	279	9	has	have	VERB
app01-3928	279	10	32	32	NUM
app01-3928	279	11	central	central	ADJ
app01-3928	279	12	processing	processing	NOUN
app01-3928	279	13	units	unit	NOUN
app01-3928	279	14	(	(	PUNCT
app01-3928	279	15	cpu	cpu	PROPN
app01-3928	279	16	)	)	PUNCT
app01-3928	279	17	and	and	CCONJ
app01-3928	279	18	has	have	VERB
app01-3928	279	19	8	8	NUM
app01-3928	279	20	gb	gb	NOUN
app01-3928	279	21	of	of	ADP
app01-3928	279	22	memory	memory	NOUN
app01-3928	279	23	.	.	PUNCT
app01-3928	280	1	all	all	DET
app01-3928	280	2	tests	test	NOUN
app01-3928	280	3	were	be	AUX
app01-3928	280	4	performed	perform	VERB
app01-3928	280	5	in	in	ADP
app01-3928	280	6	simulation	simulation	NOUN
app01-3928	280	7	on	on	ADP
app01-3928	280	8	the	the	DET
app01-3928	280	9	map	map	NOUN
app01-3928	280	10	of	of	ADP
app01-3928	280	11	an	an	DET
app01-3928	280	12	empty	empty	ADJ
app01-3928	280	13	terrain	terrain	NOUN
app01-3928	280	14	that	that	PRON
app01-3928	280	15	has	have	VERB
app01-3928	280	16	a	a	DET
app01-3928	280	17	size	size	NOUN
app01-3928	280	18	of	of	ADP
app01-3928	280	19	20	20	NUM
app01-3928	280	20	by	by	ADP
app01-3928	280	21	20	20	NUM
app01-3928	280	22	meters	meter	NOUN
app01-3928	280	23	.	.	PUNCT
app01-3928	281	1	each	each	DET
app01-3928	281	2	cell	cell	NOUN
app01-3928	281	3	of	of	ADP
app01-3928	281	4	the	the	DET
app01-3928	281	5	occupancy	occupancy	NOUN
app01-3928	281	6	grid	grid	NOUN
app01-3928	281	7	has	have	VERB
app01-3928	281	8	a	a	DET
app01-3928	281	9	size	size	NOUN
app01-3928	281	10	of	of	ADP
app01-3928	281	11	5	5	NUM
app01-3928	281	12	by	by	ADP
app01-3928	281	13	5	5	NUM
app01-3928	281	14	centimeters	centimeter	NOUN
app01-3928	281	15	.	.	PUNCT
app01-3928	282	1	it	it	PRON
app01-3928	282	2	means	mean	VERB
app01-3928	282	3	that	that	SCONJ
app01-3928	282	4	the	the	DET
app01-3928	282	5	occupancy	occupancy	NOUN
app01-3928	282	6	grid	grid	NOUN
app01-3928	282	7	has	have	VERB
app01-3928	282	8	a	a	DET
app01-3928	282	9	size	size	NOUN
app01-3928	282	10	of	of	ADP
app01-3928	282	11	400	400	NUM
app01-3928	282	12	by	by	ADP
app01-3928	282	13	400	400	NUM
app01-3928	282	14	cells	cell	NOUN
app01-3928	282	15	.	.	PUNCT
app01-3928	283	1	various	various	ADJ
app01-3928	283	2	numbers	number	NOUN
app01-3928	283	3	of	of	ADP
app01-3928	283	4	robots	robot	NOUN
app01-3928	283	5	in	in	ADP
app01-3928	283	6	the	the	DET
app01-3928	283	7	team	team	NOUN
app01-3928	283	8	are	be	AUX
app01-3928	283	9	used	use	VERB
app01-3928	283	10	to	to	PART
app01-3928	283	11	test	test	VERB
app01-3928	283	12	the	the	DET
app01-3928	283	13	loading	loading	NOUN
app01-3928	283	14	of	of	ADP
app01-3928	283	15	the	the	DET
app01-3928	283	16	network	network	NOUN
app01-3928	283	17	.	.	PUNCT
app01-3928	284	1	the	the	DET
app01-3928	284	2	team	team	NOUN
app01-3928	284	3	size	size	NOUN
app01-3928	284	4	is	be	AUX
app01-3928	284	5	varied	varied	ADJ
app01-3928	284	6	from	from	ADP
app01-3928	284	7	one	one	NUM
app01-3928	284	8	to	to	ADP
app01-3928	284	9	ten	ten	NUM
app01-3928	284	10	.	.	PUNCT
app01-3928	285	1	the	the	DET
app01-3928	285	2	application	application	NOUN
app01-3928	285	3	makes	make	VERB
app01-3928	285	4	the	the	DET
app01-3928	285	5	terrain	terrain	NOUN
app01-3928	285	6	exploration	exploration	NOUN
app01-3928	285	7	as	as	ADP
app01-3928	285	8	a	a	DET
app01-3928	285	9	single	single	ADJ
app01-3928	285	10	robot	robot	NOUN
app01-3928	285	11	,	,	PUNCT
app01-3928	285	12	if	if	SCONJ
app01-3928	285	13	the	the	DET
app01-3928	285	14	team	team	NOUN
app01-3928	285	15	consists	consist	VERB
app01-3928	285	16	only	only	ADV
app01-3928	285	17	of	of	ADP
app01-3928	285	18	one	one	NUM
app01-3928	285	19	robot	robot	NOUN
app01-3928	285	20	.	.	PUNCT
app01-3928	286	1	various	various	ADJ
app01-3928	286	2	ranges	range	NOUN
app01-3928	286	3	of	of	ADP
app01-3928	286	4	communication	communication	NOUN
app01-3928	286	5	links	link	NOUN
app01-3928	286	6	are	be	AUX
app01-3928	286	7	used	use	VERB
app01-3928	286	8	to	to	PART
app01-3928	286	9	test	test	VERB
app01-3928	286	10	the	the	DET
app01-3928	286	11	effectiveness	effectiveness	NOUN
app01-3928	286	12	of	of	ADP
app01-3928	286	13	teamwork	teamwork	NOUN
app01-3928	286	14	.	.	PUNCT
app01-3928	287	1	the	the	DET
app01-3928	287	2	communication	communication	NOUN
app01-3928	287	3	range	range	NOUN
app01-3928	287	4	takes	take	VERB
app01-3928	287	5	one	one	NUM
app01-3928	287	6	of	of	ADP
app01-3928	287	7	the	the	DET
app01-3928	287	8	values	value	NOUN
app01-3928	287	9	:	:	PUNCT
app01-3928	287	10	5	5	NUM
app01-3928	287	11	,	,	PUNCT
app01-3928	287	12	10	10	NUM
app01-3928	287	13	,	,	PUNCT
app01-3928	287	14	15	15	NUM
app01-3928	287	15	or	or	CCONJ
app01-3928	287	16	20	20	NUM
app01-3928	287	17	meters	meter	NOUN
app01-3928	287	18	.	.	PUNCT
app01-3928	288	1	the	the	DET
app01-3928	288	2	laser	laser	NOUN
app01-3928	288	3	has	have	VERB
app01-3928	288	4	a	a	DET
app01-3928	288	5	range	range	NOUN
app01-3928	288	6	of	of	ADP
app01-3928	288	7	1.5	1.5	NUM
app01-3928	288	8	or	or	CCONJ
app01-3928	288	9	2	2	NUM
app01-3928	288	10	meters	meter	NOUN
app01-3928	288	11	.	.	PUNCT
app01-3928	289	1	it	it	PRON
app01-3928	289	2	allows	allow	VERB
app01-3928	289	3	to	to	PART
app01-3928	289	4	verify	verify	VERB
app01-3928	289	5	the	the	DET
app01-3928	289	6	functionalities	functionality	NOUN
app01-3928	289	7	performance	performance	NOUN
app01-3928	289	8	with	with	ADP
app01-3928	289	9	a	a	DET
app01-3928	289	10	larger	large	ADJ
app01-3928	289	11	number	number	NOUN
app01-3928	289	12	of	of	ADP
app01-3928	289	13	steps	step	NOUN
app01-3928	289	14	of	of	ADP
app01-3928	289	15	the	the	DET
app01-3928	289	16	exploration	exploration	NOUN
app01-3928	289	17	process	process	NOUN
app01-3928	289	18	on	on	ADP
app01-3928	289	19	the	the	DET
app01-3928	289	20	same	same	ADJ
app01-3928	289	21	map	map	NOUN
app01-3928	289	22	.	.	PUNCT
app01-3928	290	1	the	the	DET
app01-3928	290	2	experiments	experiment	NOUN
app01-3928	290	3	were	be	AUX
app01-3928	290	4	performed	perform	VERB
app01-3928	290	5	three	three	NUM
app01-3928	290	6	times	time	NOUN
app01-3928	290	7	for	for	ADP
app01-3928	290	8	each	each	DET
app01-3928	290	9	system	system	NOUN
app01-3928	290	10	configuration	configuration	NOUN
app01-3928	290	11	.	.	PUNCT
app01-3928	291	1	23	23	NUM
app01-3928	291	2	khilda	khilda	NOUN
app01-3928	291	3	slyusar	slyusar	NOUN
app01-3928	291	4	,	,	PUNCT
app01-3928	291	5	miroslav	miroslav	PROPN
app01-3928	291	6	kulich	kulich	PROPN
app01-3928	291	7	acta	acta	PROPN
app01-3928	291	8	polytechnica	polytechnica	PROPN
app01-3928	291	9	ctu	ctu	NOUN
app01-3928	291	10	proceedings	proceeding	NOUN
app01-3928	291	11	(	(	PUNCT
app01-3928	291	12	a	a	X
app01-3928	291	13	)	)	PUNCT
app01-3928	291	14	.	.	PUNCT
app01-3928	292	1	(	(	PUNCT
app01-3928	292	2	b	b	NOUN
app01-3928	292	3	)	)	PUNCT
app01-3928	292	4	.	.	PUNCT
app01-3928	293	1	figure	figure	NOUN
app01-3928	293	2	2	2	NUM
app01-3928	293	3	.	.	PUNCT
app01-3928	294	1	dependence	dependence	NOUN
app01-3928	294	2	of	of	ADP
app01-3928	294	3	the	the	DET
app01-3928	294	4	steps	step	NOUN
app01-3928	294	5	on	on	ADP
app01-3928	294	6	the	the	DET
app01-3928	294	7	team	team	NOUN
app01-3928	294	8	size	size	NOUN
app01-3928	294	9	.	.	PUNCT
app01-3928	295	1	the	the	DET
app01-3928	295	2	value	value	NOUN
app01-3928	295	3	of	of	ADP
app01-3928	295	4	the	the	DET
app01-3928	295	5	laser	laser	NOUN
app01-3928	295	6	range	range	NOUN
app01-3928	295	7	is	be	AUX
app01-3928	295	8	:	:	PUNCT
app01-3928	295	9	(	(	PUNCT
app01-3928	295	10	a	a	X
app01-3928	295	11	)	)	PUNCT
app01-3928	295	12	2	2	NUM
app01-3928	295	13	meters	meter	NOUN
app01-3928	295	14	;	;	PUNCT
app01-3928	295	15	(	(	PUNCT
app01-3928	295	16	b	b	X
app01-3928	295	17	)	)	PUNCT
app01-3928	295	18	1.5	1.5	NUM
app01-3928	295	19	meters	meter	NOUN
app01-3928	295	20	.	.	PUNCT
app01-3928	296	1	the	the	DET
app01-3928	296	2	time	time	NOUN
app01-3928	296	3	measurement	measurement	NOUN
app01-3928	296	4	of	of	ADP
app01-3928	296	5	the	the	DET
app01-3928	296	6	exploration	exploration	NOUN
app01-3928	296	7	is	be	AUX
app01-3928	296	8	made	make	VERB
app01-3928	296	9	in	in	ADP
app01-3928	296	10	steps	step	NOUN
app01-3928	296	11	,	,	PUNCT
app01-3928	296	12	i.e	i.e	CCONJ
app01-3928	296	13	the	the	DET
app01-3928	296	14	number	number	NOUN
app01-3928	296	15	of	of	ADP
app01-3928	296	16	calls	call	NOUN
app01-3928	296	17	of	of	ADP
app01-3928	296	18	the	the	DET
app01-3928	296	19	function	function	NOUN
app01-3928	296	20	that	that	PRON
app01-3928	296	21	changes	change	VERB
app01-3928	296	22	the	the	DET
app01-3928	296	23	robot	robot	NOUN
app01-3928	296	24	position	position	NOUN
app01-3928	296	25	.	.	PUNCT
app01-3928	297	1	this	this	DET
app01-3928	297	2	function	function	NOUN
app01-3928	297	3	is	be	AUX
app01-3928	297	4	triggered	trigger	VERB
app01-3928	297	5	periodically	periodically	ADV
app01-3928	297	6	after	after	ADP
app01-3928	297	7	a	a	DET
app01-3928	297	8	certain	certain	ADJ
app01-3928	297	9	period	period	NOUN
app01-3928	297	10	of	of	ADP
app01-3928	297	11	time	time	NOUN
app01-3928	297	12	.	.	PUNCT
app01-3928	298	1	thus	thus	ADV
app01-3928	298	2	,	,	PUNCT
app01-3928	298	3	a	a	DET
app01-3928	298	4	step	step	NOUN
app01-3928	298	5	is	be	AUX
app01-3928	298	6	a	a	DET
app01-3928	298	7	convenient	convenient	ADJ
app01-3928	298	8	alternative	alternative	NOUN
app01-3928	298	9	to	to	ADP
app01-3928	298	10	time	time	NOUN
app01-3928	298	11	.	.	PUNCT
app01-3928	299	1	in	in	ADP
app01-3928	299	2	addition	addition	NOUN
app01-3928	299	3	,	,	PUNCT
app01-3928	299	4	the	the	DET
app01-3928	299	5	usage	usage	NOUN
app01-3928	299	6	of	of	ADP
app01-3928	299	7	steps	step	NOUN
app01-3928	299	8	metric	metric	ADJ
app01-3928	299	9	allows	allow	VERB
app01-3928	299	10	to	to	PART
app01-3928	299	11	maintain	maintain	VERB
app01-3928	299	12	usable	usable	ADJ
app01-3928	299	13	statistics	statistic	NOUN
app01-3928	299	14	of	of	ADP
app01-3928	299	15	events	event	NOUN
app01-3928	299	16	that	that	PRON
app01-3928	299	17	pass	pass	VERB
app01-3928	299	18	between	between	ADP
app01-3928	299	19	sequential	sequential	ADJ
app01-3928	299	20	steps	step	NOUN
app01-3928	299	21	.	.	PUNCT
app01-3928	300	1	5.1	5.1	NUM
app01-3928	300	2	.	.	PUNCT
app01-3928	300	3	time	time	NOUN
app01-3928	300	4	of	of	ADP
app01-3928	300	5	the	the	DET
app01-3928	300	6	exploration	exploration	NOUN
app01-3928	300	7	fig	fig	NOUN
app01-3928	300	8	.	.	PUNCT
app01-3928	301	1	2	2	NUM
app01-3928	301	2	shows	show	VERB
app01-3928	301	3	the	the	DET
app01-3928	301	4	dependence	dependence	NOUN
app01-3928	301	5	of	of	ADP
app01-3928	301	6	the	the	DET
app01-3928	301	7	average	average	ADJ
app01-3928	301	8	exploration	exploration	NOUN
app01-3928	301	9	time	time	NOUN
app01-3928	301	10	for	for	ADP
app01-3928	301	11	a	a	DET
app01-3928	301	12	team	team	NOUN
app01-3928	301	13	member	member	NOUN
app01-3928	301	14	on	on	ADP
app01-3928	301	15	the	the	DET
app01-3928	301	16	number	number	NOUN
app01-3928	301	17	of	of	ADP
app01-3928	301	18	robots	robot	NOUN
app01-3928	301	19	in	in	ADP
app01-3928	301	20	the	the	DET
app01-3928	301	21	team	team	NOUN
app01-3928	301	22	.	.	PUNCT
app01-3928	302	1	the	the	DET
app01-3928	302	2	graph	graph	NOUN
app01-3928	302	3	shows	show	VERB
app01-3928	302	4	that	that	SCONJ
app01-3928	302	5	any	any	DET
app01-3928	302	6	team	team	NOUN
app01-3928	302	7	work	work	NOUN
app01-3928	302	8	helps	help	VERB
app01-3928	302	9	to	to	PART
app01-3928	302	10	reduce	reduce	VERB
app01-3928	302	11	exploration	exploration	NOUN
app01-3928	302	12	time	time	NOUN
app01-3928	302	13	.	.	PUNCT
app01-3928	303	1	in	in	ADP
app01-3928	303	2	the	the	DET
app01-3928	303	3	beginning	beginning	NOUN
app01-3928	303	4	,	,	PUNCT
app01-3928	303	5	both	both	DET
app01-3928	303	6	graphs	graph	NOUN
app01-3928	303	7	show	show	VERB
app01-3928	303	8	a	a	DET
app01-3928	303	9	reduction	reduction	NOUN
app01-3928	303	10	of	of	ADP
app01-3928	303	11	the	the	DET
app01-3928	303	12	number	number	NOUN
app01-3928	303	13	of	of	ADP
app01-3928	303	14	steps	step	NOUN
app01-3928	303	15	,	,	PUNCT
app01-3928	303	16	then	then	ADV
app01-3928	303	17	there	there	PRON
app01-3928	303	18	is	be	VERB
app01-3928	303	19	an	an	DET
app01-3928	303	20	increase	increase	NOUN
app01-3928	303	21	in	in	ADP
app01-3928	303	22	steps	step	NOUN
app01-3928	303	23	quantity	quantity	NOUN
app01-3928	303	24	.	.	PUNCT
app01-3928	304	1	this	this	PRON
app01-3928	304	2	is	be	AUX
app01-3928	304	3	due	due	ADJ
app01-3928	304	4	to	to	ADP
app01-3928	304	5	the	the	DET
app01-3928	304	6	fact	fact	NOUN
app01-3928	304	7	that	that	SCONJ
app01-3928	304	8	the	the	DET
app01-3928	304	9	robots	robot	NOUN
app01-3928	304	10	have	have	AUX
app01-3928	304	11	to	to	PART
app01-3928	304	12	excessively	excessively	ADV
app01-3928	304	13	agree	agree	VERB
app01-3928	304	14	on	on	ADP
app01-3928	304	15	the	the	DET
app01-3928	304	16	choice	choice	NOUN
app01-3928	304	17	of	of	ADP
app01-3928	304	18	a	a	DET
app01-3928	304	19	goal	goal	NOUN
app01-3928	304	20	in	in	ADP
app01-3928	304	21	bigger	big	ADJ
app01-3928	304	22	teams	team	NOUN
app01-3928	304	23	.	.	PUNCT
app01-3928	305	1	as	as	SCONJ
app01-3928	305	2	can	can	AUX
app01-3928	305	3	be	be	AUX
app01-3928	305	4	seen	see	VERB
app01-3928	305	5	from	from	ADP
app01-3928	305	6	fig	fig	NOUN
app01-3928	305	7	.	.	PUNCT
app01-3928	306	1	3	3	NUM
app01-3928	306	2	,	,	PUNCT
app01-3928	306	3	a	a	DET
app01-3928	306	4	small	small	ADJ
app01-3928	306	5	team	team	NOUN
app01-3928	306	6	disperses	disperse	VERB
app01-3928	306	7	at	at	ADP
app01-3928	306	8	the	the	DET
app01-3928	306	9	beginning	beginning	NOUN
app01-3928	306	10	of	of	ADP
app01-3928	306	11	the	the	DET
app01-3928	306	12	exploration	exploration	NOUN
app01-3928	306	13	and	and	CCONJ
app01-3928	306	14	explores	explore	VERB
app01-3928	306	15	non	non	ADJ
app01-3928	306	16	-	-	ADJ
app01-3928	306	17	overlapping	overlapping	ADJ
app01-3928	306	18	areas	area	NOUN
app01-3928	306	19	of	of	ADP
app01-3928	306	20	the	the	DET
app01-3928	306	21	terrain	terrain	NOUN
app01-3928	306	22	.	.	PUNCT
app01-3928	307	1	however	however	ADV
app01-3928	307	2	,	,	PUNCT
app01-3928	307	3	an	an	DET
app01-3928	307	4	excessive	excessive	ADJ
app01-3928	307	5	number	number	NOUN
app01-3928	307	6	of	of	ADP
app01-3928	307	7	robots	robot	NOUN
app01-3928	307	8	in	in	ADP
app01-3928	307	9	the	the	DET
app01-3928	307	10	team	team	NOUN
app01-3928	307	11	causes	cause	VERB
app01-3928	307	12	the	the	DET
app01-3928	307	13	problem	problem	NOUN
app01-3928	307	14	of	of	ADP
app01-3928	307	15	determination	determination	NOUN
app01-3928	307	16	of	of	ADP
app01-3928	307	17	the	the	DET
app01-3928	307	18	non	non	ADJ
app01-3928	307	19	-	-	ADJ
app01-3928	307	20	overlapping	overlapping	ADJ
app01-3928	307	21	areas	area	NOUN
app01-3928	307	22	.	.	PUNCT
app01-3928	308	1	so	so	ADV
app01-3928	308	2	robots	robot	NOUN
app01-3928	308	3	are	be	AUX
app01-3928	308	4	required	require	VERB
app01-3928	308	5	to	to	PART
app01-3928	308	6	negotiate	negotiate	VERB
app01-3928	308	7	the	the	DET
app01-3928	308	8	rescheduling	rescheduling	NOUN
app01-3928	308	9	of	of	ADP
app01-3928	308	10	their	their	PRON
app01-3928	308	11	goals	goal	NOUN
app01-3928	308	12	.	.	PUNCT
app01-3928	309	1	the	the	DET
app01-3928	309	2	graph	graph	NOUN
app01-3928	309	3	also	also	ADV
app01-3928	309	4	shows	show	VERB
app01-3928	309	5	that	that	SCONJ
app01-3928	309	6	the	the	DET
app01-3928	309	7	decrease	decrease	NOUN
app01-3928	309	8	in	in	ADP
app01-3928	309	9	the	the	DET
app01-3928	309	10	communication	communication	NOUN
app01-3928	309	11	range	range	NOUN
app01-3928	309	12	increases	increase	VERB
app01-3928	309	13	the	the	DET
app01-3928	309	14	number	number	NOUN
app01-3928	309	15	of	of	ADP
app01-3928	309	16	steps	step	NOUN
app01-3928	309	17	that	that	PRON
app01-3928	309	18	are	be	AUX
app01-3928	309	19	required	require	VERB
app01-3928	309	20	to	to	PART
app01-3928	309	21	complete	complete	VERB
app01-3928	309	22	the	the	DET
app01-3928	309	23	terrain	terrain	NOUN
app01-3928	309	24	exploration	exploration	NOUN
app01-3928	309	25	.	.	PUNCT
app01-3928	310	1	some	some	DET
app01-3928	310	2	scans	scan	NOUN
app01-3928	310	3	from	from	ADP
app01-3928	310	4	the	the	DET
app01-3928	310	5	other	other	ADJ
app01-3928	310	6	robots	robot	NOUN
app01-3928	310	7	could	could	AUX
app01-3928	310	8	not	not	PART
app01-3928	310	9	reach	reach	VERB
app01-3928	310	10	the	the	DET
app01-3928	310	11	robot	robot	NOUN
app01-3928	310	12	because	because	SCONJ
app01-3928	310	13	of	of	ADP
app01-3928	310	14	lack	lack	NOUN
app01-3928	310	15	of	of	ADP
app01-3928	310	16	communication	communication	NOUN
app01-3928	310	17	link	link	NOUN
app01-3928	310	18	due	due	ADP
app01-3928	310	19	to	to	ADP
app01-3928	310	20	the	the	DET
app01-3928	310	21	small	small	ADJ
app01-3928	310	22	value	value	NOUN
app01-3928	310	23	of	of	ADP
app01-3928	310	24	the	the	DET
app01-3928	310	25	communication	communication	NOUN
app01-3928	310	26	range	range	NOUN
app01-3928	310	27	.	.	PUNCT
app01-3928	311	1	that	that	PRON
app01-3928	311	2	is	is	ADV
app01-3928	311	3	,	,	PUNCT
app01-3928	311	4	the	the	DET
app01-3928	311	5	robot	robot	NOUN
app01-3928	311	6	is	be	AUX
app01-3928	311	7	forced	force	VERB
app01-3928	311	8	to	to	PART
app01-3928	311	9	explore	explore	VERB
app01-3928	311	10	the	the	DET
app01-3928	311	11	given	give	VERB
app01-3928	311	12	area	area	NOUN
app01-3928	311	13	by	by	ADP
app01-3928	311	14	itself	itself	PRON
app01-3928	311	15	.	.	PUNCT
app01-3928	312	1	it	it	PRON
app01-3928	312	2	increases	increase	VERB
app01-3928	312	3	the	the	DET
app01-3928	312	4	overall	overall	ADJ
app01-3928	312	5	time	time	NOUN
app01-3928	312	6	of	of	ADP
app01-3928	312	7	the	the	DET
app01-3928	312	8	exploration	exploration	NOUN
app01-3928	312	9	.	.	PUNCT
app01-3928	313	1	comparison	comparison	NOUN
app01-3928	313	2	of	of	ADP
app01-3928	313	3	fig	fig	NOUN
app01-3928	313	4	.	.	PUNCT
app01-3928	314	1	2(a	2(a	NUM
app01-3928	314	2	)	)	PUNCT
app01-3928	314	3	and	and	CCONJ
app01-3928	314	4	fig	fig	NOUN
app01-3928	314	5	.	.	PUNCT
app01-3928	315	1	2(b	2(b	NUM
app01-3928	315	2	)	)	PUNCT
app01-3928	315	3	shows	show	VERB
app01-3928	315	4	that	that	SCONJ
app01-3928	315	5	the	the	DET
app01-3928	315	6	ratio	ratio	NOUN
app01-3928	315	7	of	of	ADP
app01-3928	315	8	the	the	DET
app01-3928	315	9	steps	step	NOUN
app01-3928	315	10	number	number	NOUN
app01-3928	315	11	and	and	CCONJ
app01-3928	315	12	the	the	DET
app01-3928	315	13	team	team	NOUN
app01-3928	315	14	size	size	NOUN
app01-3928	315	15	remains	remain	VERB
app01-3928	315	16	constant	constant	ADJ
app01-3928	315	17	regardless	regardless	ADV
app01-3928	315	18	of	of	ADP
app01-3928	315	19	the	the	DET
app01-3928	315	20	laser	laser	NOUN
app01-3928	315	21	range	range	NOUN
app01-3928	315	22	.	.	PUNCT
app01-3928	316	1	however	however	ADV
app01-3928	316	2	,	,	PUNCT
app01-3928	316	3	reducing	reduce	VERB
app01-3928	316	4	the	the	DET
app01-3928	316	5	value	value	NOUN
app01-3928	316	6	of	of	ADP
app01-3928	316	7	laser	laser	NOUN
app01-3928	316	8	range	range	NOUN
app01-3928	316	9	increases	increase	VERB
app01-3928	316	10	the	the	DET
app01-3928	316	11	total	total	ADJ
app01-3928	316	12	number	number	NOUN
app01-3928	316	13	of	of	ADP
app01-3928	316	14	steps	step	NOUN
app01-3928	316	15	.	.	PUNCT
app01-3928	317	1	if	if	SCONJ
app01-3928	317	2	the	the	DET
app01-3928	317	3	laser	laser	NOUN
app01-3928	317	4	has	have	VERB
app01-3928	317	5	a	a	DET
app01-3928	317	6	shorter	short	ADJ
app01-3928	317	7	range	range	NOUN
app01-3928	317	8	,	,	PUNCT
app01-3928	317	9	then	then	ADV
app01-3928	317	10	each	each	DET
app01-3928	317	11	scan	scan	NOUN
app01-3928	317	12	provides	provide	VERB
app01-3928	317	13	less	less	ADJ
app01-3928	317	14	information	information	NOUN
app01-3928	317	15	about	about	ADP
app01-3928	317	16	the	the	DET
app01-3928	317	17	environment	environment	NOUN
app01-3928	317	18	.	.	PUNCT
app01-3928	318	1	thus	thus	ADV
app01-3928	318	2	,	,	PUNCT
app01-3928	318	3	it	it	PRON
app01-3928	318	4	is	be	AUX
app01-3928	318	5	necessary	necessary	ADJ
app01-3928	318	6	to	to	PART
app01-3928	318	7	make	make	VERB
app01-3928	318	8	larger	large	ADJ
app01-3928	318	9	movements	movement	NOUN
app01-3928	318	10	(	(	PUNCT
app01-3928	318	11	a	a	NOUN
app01-3928	318	12	)	)	PUNCT
app01-3928	318	13	.	.	PUNCT
app01-3928	319	1	(	(	PUNCT
app01-3928	319	2	b	b	NOUN
app01-3928	319	3	)	)	PUNCT
app01-3928	319	4	.	.	PUNCT
app01-3928	320	1	(	(	PUNCT
app01-3928	320	2	c	c	NOUN
app01-3928	320	3	)	)	PUNCT
app01-3928	320	4	.	.	PUNCT
app01-3928	321	1	(	(	PUNCT
app01-3928	321	2	d	d	NOUN
app01-3928	321	3	)	)	PUNCT
app01-3928	321	4	.	.	PUNCT
app01-3928	322	1	(	(	PUNCT
app01-3928	322	2	e	e	NOUN
app01-3928	322	3	)	)	PUNCT
app01-3928	322	4	.	.	PUNCT
app01-3928	323	1	(	(	PUNCT
app01-3928	323	2	f	f	X
app01-3928	323	3	)	)	PUNCT
app01-3928	323	4	.	.	PUNCT
app01-3928	324	1	figure	figure	VERB
app01-3928	324	2	3	3	NUM
app01-3928	324	3	.	.	PUNCT
app01-3928	325	1	the	the	DET
app01-3928	325	2	resulting	result	VERB
app01-3928	325	3	paths	path	NOUN
app01-3928	325	4	after	after	ADP
app01-3928	325	5	the	the	DET
app01-3928	325	6	exploration	exploration	NOUN
app01-3928	325	7	.	.	PUNCT
app01-3928	326	1	the	the	DET
app01-3928	326	2	laser	laser	NOUN
app01-3928	326	3	range	range	NOUN
app01-3928	326	4	of	of	ADP
app01-3928	326	5	the	the	DET
app01-3928	326	6	first	first	ADJ
app01-3928	326	7	column	column	NOUN
app01-3928	326	8	is	be	AUX
app01-3928	326	9	2	2	NUM
app01-3928	326	10	meters	meter	NOUN
app01-3928	326	11	,	,	PUNCT
app01-3928	326	12	the	the	DET
app01-3928	326	13	second	second	ADJ
app01-3928	326	14	column	column	NOUN
app01-3928	326	15	is	be	AUX
app01-3928	326	16	1.5	1.5	NUM
app01-3928	326	17	meters	meter	NOUN
app01-3928	326	18	.	.	PUNCT
app01-3928	327	1	rows	row	NOUN
app01-3928	327	2	are	be	AUX
app01-3928	327	3	separated	separate	VERB
app01-3928	327	4	by	by	ADP
app01-3928	327	5	team	team	NOUN
app01-3928	327	6	size	size	NOUN
app01-3928	327	7	:	:	PUNCT
app01-3928	327	8	(	(	PUNCT
app01-3928	327	9	a)+(b	a)+(b	NOUN
app01-3928	327	10	)	)	PUNCT
app01-3928	327	11	1	1	NUM
app01-3928	327	12	robot	robot	NOUN
app01-3928	327	13	;	;	PUNCT
app01-3928	327	14	(	(	PUNCT
app01-3928	327	15	c)+(d	c)+(d	X
app01-3928	327	16	)	)	PUNCT
app01-3928	327	17	2	2	NUM
app01-3928	327	18	robots	robot	NOUN
app01-3928	327	19	;	;	PUNCT
app01-3928	327	20	(	(	PUNCT
app01-3928	327	21	e)+(f	e)+(f	NOUN
app01-3928	327	22	)	)	PUNCT
app01-3928	327	23	5	5	NUM
app01-3928	327	24	robots	robot	NOUN
app01-3928	327	25	.	.	PUNCT
app01-3928	328	1	24	24	NUM
app01-3928	328	2	vol	vol	NOUN
app01-3928	328	3	.	.	PUNCT
app01-3928	329	1	6/2016	6/2016	NUM
app01-3928	329	2	framework	framework	NOUN
app01-3928	329	3	for	for	ADP
app01-3928	329	4	ad	ad	X
app01-3928	329	5	hoc	hoc	X
app01-3928	329	6	network	network	NOUN
app01-3928	329	7	communication	communication	NOUN
app01-3928	329	8	in	in	ADP
app01-3928	329	9	multi	multi	ADJ
app01-3928	329	10	-	-	ADJ
app01-3928	329	11	robot	robot	ADJ
app01-3928	329	12	systems	system	NOUN
app01-3928	329	13	and	and	CCONJ
app01-3928	329	14	get	get	VERB
app01-3928	329	15	more	more	ADJ
app01-3928	329	16	scans	scan	NOUN
app01-3928	329	17	to	to	PART
app01-3928	329	18	obtain	obtain	VERB
app01-3928	329	19	a	a	DET
app01-3928	329	20	complete	complete	ADJ
app01-3928	329	21	map	map	NOUN
app01-3928	329	22	of	of	ADP
app01-3928	329	23	the	the	DET
app01-3928	329	24	terrain	terrain	NOUN
app01-3928	329	25	.	.	PUNCT
app01-3928	330	1	5.2	5.2	NUM
app01-3928	330	2	.	.	PUNCT
app01-3928	331	1	plan	plan	NOUN
app01-3928	331	2	generations	generation	NOUN
app01-3928	331	3	fig	fig	NOUN
app01-3928	331	4	.	.	PUNCT
app01-3928	332	1	4	4	NUM
app01-3928	332	2	shows	show	VERB
app01-3928	332	3	the	the	DET
app01-3928	332	4	frequency	frequency	NOUN
app01-3928	332	5	with	with	ADP
app01-3928	332	6	which	which	PRON
app01-3928	332	7	the	the	DET
app01-3928	332	8	application	application	NOUN
app01-3928	332	9	is	be	AUX
app01-3928	332	10	launching	launch	VERB
app01-3928	332	11	a	a	DET
app01-3928	332	12	new	new	ADJ
app01-3928	332	13	request	request	NOUN
app01-3928	332	14	for	for	ADP
app01-3928	332	15	a	a	DET
app01-3928	332	16	new	new	ADJ
app01-3928	332	17	generation	generation	NOUN
app01-3928	332	18	of	of	ADP
app01-3928	332	19	the	the	DET
app01-3928	332	20	plan	plan	NOUN
app01-3928	332	21	.	.	PUNCT
app01-3928	333	1	a	a	DET
app01-3928	333	2	plan	plan	NOUN
app01-3928	333	3	generation	generation	NOUN
app01-3928	333	4	runs	run	VERB
app01-3928	333	5	periodically	periodically	ADV
app01-3928	333	6	by	by	ADP
app01-3928	333	7	a	a	DET
app01-3928	333	8	timer	timer	NOUN
app01-3928	333	9	part	part	NOUN
app01-3928	333	10	of	of	ADP
app01-3928	333	11	the	the	DET
app01-3928	333	12	application	application	NOUN
app01-3928	333	13	,	,	PUNCT
app01-3928	333	14	as	as	SCONJ
app01-3928	333	15	described	describe	VERB
app01-3928	333	16	in	in	ADP
app01-3928	333	17	section	section	NOUN
app01-3928	333	18	4	4	NUM
app01-3928	333	19	.	.	PUNCT
app01-3928	334	1	in	in	ADP
app01-3928	334	2	addition	addition	NOUN
app01-3928	334	3	,	,	PUNCT
app01-3928	334	4	it	it	PRON
app01-3928	334	5	can	can	AUX
app01-3928	334	6	be	be	AUX
app01-3928	334	7	run	run	VERB
app01-3928	334	8	by	by	ADP
app01-3928	334	9	a	a	DET
app01-3928	334	10	request	request	NOUN
app01-3928	334	11	from	from	ADP
app01-3928	334	12	an	an	DET
app01-3928	334	13	another	another	DET
app01-3928	334	14	team	team	NOUN
app01-3928	334	15	member	member	NOUN
app01-3928	334	16	.	.	PUNCT
app01-3928	335	1	in	in	ADP
app01-3928	335	2	this	this	DET
app01-3928	335	3	implementation	implementation	NOUN
app01-3928	335	4	,	,	PUNCT
app01-3928	335	5	if	if	SCONJ
app01-3928	335	6	two	two	NUM
app01-3928	335	7	robots	robot	NOUN
app01-3928	335	8	have	have	VERB
app01-3928	335	9	the	the	DET
app01-3928	335	10	goal	goal	NOUN
app01-3928	335	11	at	at	ADP
app01-3928	335	12	the	the	DET
app01-3928	335	13	same	same	ADJ
app01-3928	335	14	area	area	NOUN
app01-3928	335	15	,	,	PUNCT
app01-3928	335	16	the	the	DET
app01-3928	335	17	robot	robot	NOUN
app01-3928	335	18	with	with	ADP
app01-3928	335	19	a	a	DET
app01-3928	335	20	higher	high	ADJ
app01-3928	335	21	priority	priority	NOUN
app01-3928	335	22	of	of	ADP
app01-3928	335	23	the	the	DET
app01-3928	335	24	goal	goal	NOUN
app01-3928	335	25	sends	send	VERB
app01-3928	335	26	a	a	DET
app01-3928	335	27	request	request	NOUN
app01-3928	335	28	to	to	ADP
app01-3928	335	29	the	the	DET
app01-3928	335	30	robot	robot	NOUN
app01-3928	335	31	with	with	ADP
app01-3928	335	32	a	a	DET
app01-3928	335	33	lower	low	ADJ
app01-3928	335	34	priority	priority	NOUN
app01-3928	335	35	to	to	PART
app01-3928	335	36	select	select	VERB
app01-3928	335	37	a	a	DET
app01-3928	335	38	new	new	ADJ
app01-3928	335	39	navigation	navigation	NOUN
app01-3928	335	40	goal	goal	NOUN
app01-3928	335	41	and	and	CCONJ
app01-3928	335	42	generate	generate	VERB
app01-3928	335	43	a	a	DET
app01-3928	335	44	plan	plan	NOUN
app01-3928	335	45	to	to	ADP
app01-3928	335	46	the	the	DET
app01-3928	335	47	selected	select	VERB
app01-3928	335	48	goal	goal	NOUN
app01-3928	335	49	.	.	PUNCT
app01-3928	336	1	the	the	DET
app01-3928	336	2	launching	launch	VERB
app01-3928	336	3	frequency	frequency	NOUN
app01-3928	336	4	of	of	ADP
app01-3928	336	5	generation	generation	NOUN
app01-3928	336	6	of	of	ADP
app01-3928	336	7	the	the	DET
app01-3928	336	8	plan	plan	NOUN
app01-3928	336	9	is	be	AUX
app01-3928	336	10	20	20	NUM
app01-3928	336	11	steps	step	NOUN
app01-3928	336	12	in	in	ADP
app01-3928	336	13	the	the	DET
app01-3928	336	14	application	application	NOUN
app01-3928	336	15	.	.	PUNCT
app01-3928	337	1	the	the	DET
app01-3928	337	2	graphs	graph	NOUN
app01-3928	337	3	shown	show	VERB
app01-3928	337	4	on	on	ADP
app01-3928	337	5	fig	fig	NOUN
app01-3928	337	6	.	.	PUNCT
app01-3928	337	7	4	4	NUM
app01-3928	337	8	contain	contain	VERB
app01-3928	337	9	all	all	DET
app01-3928	337	10	plan	plan	NOUN
app01-3928	337	11	generations	generation	NOUN
app01-3928	337	12	,	,	PUNCT
app01-3928	337	13	which	which	PRON
app01-3928	337	14	had	have	VERB
app01-3928	337	15	one	one	NUM
app01-3928	337	16	member	member	NOUN
app01-3928	337	17	of	of	ADP
app01-3928	337	18	the	the	DET
app01-3928	337	19	robot	robot	NOUN
app01-3928	337	20	team	team	NOUN
app01-3928	337	21	during	during	ADP
app01-3928	337	22	complete	complete	ADJ
app01-3928	337	23	exploration	exploration	NOUN
app01-3928	337	24	of	of	ADP
app01-3928	337	25	the	the	DET
app01-3928	337	26	environment	environment	NOUN
app01-3928	337	27	.	.	PUNCT
app01-3928	338	1	thus	thus	ADV
app01-3928	338	2	,	,	PUNCT
app01-3928	338	3	all	all	PRON
app01-3928	338	4	function	function	VERB
app01-3928	338	5	values	value	NOUN
app01-3928	338	6	under	under	ADP
app01-3928	338	7	the	the	DET
app01-3928	338	8	value	value	NOUN
app01-3928	338	9	of	of	ADP
app01-3928	338	10	20	20	NUM
app01-3928	338	11	steps	step	NOUN
app01-3928	338	12	means	mean	VERB
app01-3928	338	13	that	that	SCONJ
app01-3928	338	14	the	the	DET
app01-3928	338	15	corresponding	correspond	VERB
app01-3928	338	16	plan	plan	NOUN
app01-3928	338	17	generation	generation	NOUN
app01-3928	338	18	is	be	AUX
app01-3928	338	19	launched	launch	VERB
app01-3928	338	20	on	on	ADP
app01-3928	338	21	request	request	NOUN
app01-3928	338	22	from	from	ADP
app01-3928	338	23	an	an	DET
app01-3928	338	24	another	another	DET
app01-3928	338	25	robot	robot	NOUN
app01-3928	338	26	.	.	PUNCT
app01-3928	339	1	fig	fig	NOUN
app01-3928	339	2	.	.	PUNCT
app01-3928	340	1	4(a	4(a	NUM
app01-3928	340	2	)	)	PUNCT
app01-3928	340	3	shows	show	VERB
app01-3928	340	4	that	that	SCONJ
app01-3928	340	5	a	a	DET
app01-3928	340	6	single	single	ADJ
app01-3928	340	7	robot	robot	NOUN
app01-3928	340	8	starts	start	VERB
app01-3928	340	9	a	a	DET
app01-3928	340	10	process	process	NOUN
app01-3928	340	11	of	of	ADP
app01-3928	340	12	path	path	NOUN
app01-3928	340	13	generation	generation	NOUN
app01-3928	340	14	by	by	ADP
app01-3928	340	15	approximately	approximately	ADV
app01-3928	340	16	the	the	DET
app01-3928	340	17	same	same	ADJ
app01-3928	340	18	intervals	interval	NOUN
app01-3928	340	19	.	.	PUNCT
app01-3928	341	1	the	the	DET
app01-3928	341	2	increase	increase	NOUN
app01-3928	341	3	of	of	ADP
app01-3928	341	4	the	the	DET
app01-3928	341	5	team	team	NOUN
app01-3928	341	6	size	size	NOUN
app01-3928	341	7	leads	lead	VERB
app01-3928	341	8	to	to	ADP
app01-3928	341	9	the	the	DET
app01-3928	341	10	fact	fact	NOUN
app01-3928	341	11	that	that	SCONJ
app01-3928	341	12	robots	robot	NOUN
app01-3928	341	13	can	can	AUX
app01-3928	341	14	compete	compete	VERB
app01-3928	341	15	for	for	ADP
app01-3928	341	16	the	the	DET
app01-3928	341	17	goals	goal	NOUN
app01-3928	341	18	in	in	ADP
app01-3928	341	19	a	a	DET
app01-3928	341	20	particular	particular	ADJ
app01-3928	341	21	region	region	NOUN
app01-3928	341	22	of	of	ADP
app01-3928	341	23	the	the	DET
app01-3928	341	24	terrain	terrain	NOUN
app01-3928	341	25	.	.	PUNCT
app01-3928	342	1	this	this	PRON
app01-3928	342	2	can	can	AUX
app01-3928	342	3	have	have	VERB
app01-3928	342	4	both	both	CCONJ
app01-3928	342	5	positive	positive	ADJ
app01-3928	342	6	and	and	CCONJ
app01-3928	342	7	negative	negative	ADJ
app01-3928	342	8	effects	effect	NOUN
app01-3928	342	9	.	.	PUNCT
app01-3928	343	1	let	let	VERB
app01-3928	343	2	’s	’s	NOUN
app01-3928	343	3	consider	consider	VERB
app01-3928	343	4	the	the	DET
app01-3928	343	5	situation	situation	NOUN
app01-3928	343	6	of	of	ADP
app01-3928	343	7	the	the	DET
app01-3928	343	8	terrain	terrain	NOUN
app01-3928	343	9	exploration	exploration	NOUN
app01-3928	343	10	by	by	ADP
app01-3928	343	11	a	a	DET
app01-3928	343	12	team	team	NOUN
app01-3928	343	13	that	that	PRON
app01-3928	343	14	consists	consist	VERB
app01-3928	343	15	of	of	ADP
app01-3928	343	16	ten	ten	NUM
app01-3928	343	17	robots	robot	NOUN
app01-3928	343	18	and	and	CCONJ
app01-3928	343	19	the	the	DET
app01-3928	343	20	communication	communication	NOUN
app01-3928	343	21	range	range	NOUN
app01-3928	343	22	is	be	AUX
app01-3928	343	23	20	20	NUM
app01-3928	343	24	meters	meter	NOUN
app01-3928	343	25	.	.	PUNCT
app01-3928	344	1	this	this	PRON
app01-3928	344	2	means	mean	VERB
app01-3928	344	3	that	that	SCONJ
app01-3928	344	4	all	all	DET
app01-3928	344	5	robots	robot	NOUN
app01-3928	344	6	agree	agree	VERB
app01-3928	344	7	on	on	ADP
app01-3928	344	8	the	the	DET
app01-3928	344	9	choice	choice	NOUN
app01-3928	344	10	of	of	ADP
app01-3928	344	11	goals	goal	NOUN
app01-3928	344	12	with	with	ADP
app01-3928	344	13	the	the	DET
app01-3928	344	14	other	other	ADJ
app01-3928	344	15	robots	robot	NOUN
app01-3928	344	16	.	.	PUNCT
app01-3928	345	1	the	the	DET
app01-3928	345	2	first	first	ADJ
app01-3928	345	3	low	low	ADJ
app01-3928	345	4	part	part	NOUN
app01-3928	345	5	of	of	ADP
app01-3928	345	6	the	the	DET
app01-3928	345	7	graph	graph	NOUN
app01-3928	345	8	shown	show	VERB
app01-3928	345	9	in	in	ADP
app01-3928	345	10	fig	fig	NOUN
app01-3928	345	11	.	.	PUNCT
app01-3928	346	1	4(d	4(d	NUM
app01-3928	346	2	)	)	PUNCT
app01-3928	346	3	corresponds	correspond	VERB
app01-3928	346	4	to	to	ADP
app01-3928	346	5	fig	fig	NOUN
app01-3928	346	6	.	.	PUNCT
app01-3928	347	1	5(a	5(a	NUM
app01-3928	347	2	)	)	PUNCT
app01-3928	347	3	.	.	PUNCT
app01-3928	348	1	the	the	DET
app01-3928	348	2	robots	robot	NOUN
app01-3928	348	3	start	start	VERB
app01-3928	348	4	the	the	DET
app01-3928	348	5	goal	goal	NOUN
app01-3928	348	6	selection	selection	NOUN
app01-3928	348	7	.	.	PUNCT
app01-3928	349	1	however	however	ADV
app01-3928	349	2	,	,	PUNCT
app01-3928	349	3	the	the	DET
app01-3928	349	4	current	current	ADJ
app01-3928	349	5	implementation	implementation	NOUN
app01-3928	349	6	of	of	ADP
app01-3928	349	7	the	the	DET
app01-3928	349	8	goal	goal	NOUN
app01-3928	349	9	choice	choice	NOUN
app01-3928	349	10	requires	require	VERB
app01-3928	349	11	to	to	PART
app01-3928	349	12	select	select	VERB
app01-3928	349	13	the	the	DET
app01-3928	349	14	goal	goal	NOUN
app01-3928	349	15	that	that	PRON
app01-3928	349	16	does	do	AUX
app01-3928	349	17	not	not	PART
app01-3928	349	18	lie	lie	VERB
app01-3928	349	19	close	close	ADV
app01-3928	349	20	to	to	ADP
app01-3928	349	21	the	the	DET
app01-3928	349	22	goals	goal	NOUN
app01-3928	349	23	of	of	ADP
app01-3928	349	24	other	other	ADJ
app01-3928	349	25	team	team	NOUN
app01-3928	349	26	members	member	NOUN
app01-3928	349	27	.	.	PUNCT
app01-3928	350	1	this	this	PRON
app01-3928	350	2	means	mean	VERB
app01-3928	350	3	that	that	SCONJ
app01-3928	350	4	the	the	DET
app01-3928	350	5	distance	distance	NOUN
app01-3928	350	6	between	between	ADP
app01-3928	350	7	the	the	DET
app01-3928	350	8	selected	select	VERB
app01-3928	350	9	goal	goal	NOUN
app01-3928	350	10	and	and	CCONJ
app01-3928	350	11	goal	goal	NOUN
app01-3928	350	12	of	of	ADP
app01-3928	350	13	another	another	DET
app01-3928	350	14	robot	robot	NOUN
app01-3928	350	15	should	should	AUX
app01-3928	350	16	be	be	AUX
app01-3928	350	17	greater	great	ADJ
app01-3928	350	18	than	than	ADP
app01-3928	350	19	the	the	DET
app01-3928	350	20	laser	laser	NOUN
app01-3928	350	21	range	range	NOUN
app01-3928	350	22	.	.	PUNCT
app01-3928	351	1	an	an	DET
app01-3928	351	2	example	example	NOUN
app01-3928	351	3	of	of	ADP
app01-3928	351	4	such	such	ADJ
app01-3928	351	5	area	area	NOUN
app01-3928	351	6	is	be	AUX
app01-3928	351	7	depicted	depict	VERB
app01-3928	351	8	in	in	ADP
app01-3928	351	9	fig	fig	NOUN
app01-3928	351	10	.	.	PUNCT
app01-3928	352	1	5(a	5(a	NUM
app01-3928	352	2	)	)	PUNCT
app01-3928	352	3	as	as	ADP
app01-3928	352	4	the	the	DET
app01-3928	352	5	yellow	yellow	ADJ
app01-3928	352	6	circle	circle	NOUN
app01-3928	352	7	.	.	PUNCT
app01-3928	353	1	if	if	SCONJ
app01-3928	353	2	each	each	DET
app01-3928	353	3	robot	robot	NOUN
app01-3928	353	4	chooses	choose	VERB
app01-3928	353	5	a	a	DET
app01-3928	353	6	goal	goal	NOUN
app01-3928	353	7	which	which	PRON
app01-3928	353	8	does	do	AUX
app01-3928	353	9	not	not	PART
app01-3928	353	10	overlap	overlap	VERB
app01-3928	353	11	with	with	ADP
app01-3928	353	12	the	the	DET
app01-3928	353	13	goals	goal	NOUN
app01-3928	353	14	of	of	ADP
app01-3928	353	15	the	the	DET
app01-3928	353	16	other	other	ADJ
app01-3928	353	17	robots	robot	NOUN
app01-3928	353	18	,	,	PUNCT
app01-3928	353	19	the	the	DET
app01-3928	353	20	plan	plan	NOUN
app01-3928	353	21	generation	generation	NOUN
app01-3928	353	22	is	be	AUX
app01-3928	353	23	invoked	invoke	VERB
app01-3928	353	24	periodically	periodically	ADV
app01-3928	353	25	by	by	ADP
app01-3928	353	26	the	the	DET
app01-3928	353	27	timer	timer	NOUN
app01-3928	353	28	thread	thread	NOUN
app01-3928	353	29	.	.	PUNCT
app01-3928	354	1	that	that	PRON
app01-3928	354	2	is	is	ADV
app01-3928	354	3	,	,	PUNCT
app01-3928	354	4	the	the	DET
app01-3928	354	5	robot	robot	NOUN
app01-3928	354	6	does	do	AUX
app01-3928	354	7	not	not	PART
app01-3928	354	8	encounter	encounter	VERB
app01-3928	354	9	other	other	ADJ
app01-3928	354	10	robots	robot	NOUN
app01-3928	354	11	and	and	CCONJ
app01-3928	354	12	it	it	PRON
app01-3928	354	13	made	make	VERB
app01-3928	354	14	the	the	DET
app01-3928	354	15	right	right	ADJ
app01-3928	354	16	goal	goal	NOUN
app01-3928	354	17	choice	choice	NOUN
app01-3928	354	18	.	.	PUNCT
app01-3928	355	1	the	the	DET
app01-3928	355	2	straight	straight	ADJ
app01-3928	355	3	part	part	NOUN
app01-3928	355	4	of	of	ADP
app01-3928	355	5	the	the	DET
app01-3928	355	6	plot	plot	NOUN
app01-3928	355	7	with	with	ADP
app01-3928	355	8	a	a	DET
app01-3928	355	9	step	step	NOUN
app01-3928	355	10	value	value	NOUN
app01-3928	355	11	,	,	PUNCT
app01-3928	355	12	which	which	PRON
app01-3928	355	13	is	be	AUX
app01-3928	355	14	equal	equal	ADJ
app01-3928	355	15	to	to	ADP
app01-3928	355	16	20	20	NUM
app01-3928	355	17	,	,	PUNCT
app01-3928	355	18	corresponds	correspond	VERB
app01-3928	355	19	to	to	ADP
app01-3928	355	20	fig	fig	NOUN
app01-3928	355	21	.	.	PUNCT
app01-3928	356	1	5(b	5(b	NUM
app01-3928	356	2	)	)	PUNCT
app01-3928	356	3	.	.	PUNCT
app01-3928	357	1	then	then	ADV
app01-3928	357	2	,	,	PUNCT
app01-3928	357	3	most	most	ADJ
app01-3928	357	4	of	of	ADP
app01-3928	357	5	the	the	DET
app01-3928	357	6	terrain	terrain	NOUN
app01-3928	357	7	is	be	AUX
app01-3928	357	8	explored	explore	VERB
app01-3928	357	9	and	and	CCONJ
app01-3928	357	10	the	the	DET
app01-3928	357	11	robots	robot	NOUN
app01-3928	357	12	are	be	AUX
app01-3928	357	13	in	in	ADP
app01-3928	357	14	a	a	DET
app01-3928	357	15	small	small	ADJ
app01-3928	357	16	unexplored	unexplored	ADJ
app01-3928	357	17	part	part	NOUN
app01-3928	357	18	of	of	ADP
app01-3928	357	19	the	the	DET
app01-3928	357	20	environment	environment	NOUN
app01-3928	357	21	(	(	PUNCT
app01-3928	357	22	see	see	VERB
app01-3928	357	23	fig	fig	NOUN
app01-3928	357	24	.	.	PUNCT
app01-3928	358	1	5(c	5(c	NUM
app01-3928	358	2	)	)	PUNCT
app01-3928	358	3	)	)	PUNCT
app01-3928	358	4	.	.	PUNCT
app01-3928	359	1	the	the	DET
app01-3928	359	2	weak	weak	ADJ
app01-3928	359	3	point	point	NOUN
app01-3928	359	4	of	of	ADP
app01-3928	359	5	the	the	DET
app01-3928	359	6	implemented	implement	VERB
app01-3928	359	7	simple	simple	ADJ
app01-3928	359	8	prioritizing	prioritizing	NOUN
app01-3928	359	9	between	between	ADP
app01-3928	359	10	the	the	DET
app01-3928	359	11	robots	robot	NOUN
app01-3928	359	12	appears	appear	VERB
app01-3928	359	13	.	.	PUNCT
app01-3928	360	1	at	at	ADP
app01-3928	360	2	this	this	DET
app01-3928	360	3	point	point	NOUN
app01-3928	360	4	,	,	PUNCT
app01-3928	360	5	the	the	DET
app01-3928	360	6	frequency	frequency	NOUN
app01-3928	360	7	of	of	ADP
app01-3928	360	8	plan	plan	NOUN
app01-3928	360	9	generation	generation	NOUN
app01-3928	360	10	begins	begin	VERB
app01-3928	360	11	to	to	PART
app01-3928	360	12	increase	increase	VERB
app01-3928	360	13	.	.	PUNCT
app01-3928	361	1	moreover	moreover	ADV
app01-3928	361	2	,	,	PUNCT
app01-3928	361	3	increasing	increase	VERB
app01-3928	361	4	the	the	DET
app01-3928	361	5	number	number	NOUN
app01-3928	361	6	of	of	ADP
app01-3928	361	7	plan	plan	NOUN
app01-3928	361	8	generations	generation	NOUN
app01-3928	361	9	leads	lead	VERB
app01-3928	361	10	to	to	PART
app01-3928	361	11	increase	increase	VERB
app01-3928	361	12	in	in	ADP
app01-3928	361	13	the	the	DET
app01-3928	361	14	number	number	NOUN
app01-3928	361	15	of	of	ADP
app01-3928	361	16	steps	step	NOUN
app01-3928	361	17	that	that	PRON
app01-3928	361	18	are	be	AUX
app01-3928	361	19	necessary	necessary	ADJ
app01-3928	361	20	to	to	PART
app01-3928	361	21	complete	complete	VERB
app01-3928	361	22	the	the	DET
app01-3928	361	23	terrain	terrain	NOUN
app01-3928	361	24	exploration	exploration	NOUN
app01-3928	361	25	.	.	PUNCT
app01-3928	362	1	it	it	PRON
app01-3928	362	2	then	then	ADV
app01-3928	362	3	leads	lead	VERB
app01-3928	362	4	to	to	PART
app01-3928	362	5	increase	increase	NOUN
app01-3928	362	6	of	of	ADP
app01-3928	362	7	the	the	DET
app01-3928	362	8	total	total	ADJ
app01-3928	362	9	exploration	exploration	NOUN
app01-3928	362	10	time	time	NOUN
app01-3928	362	11	.	.	PUNCT
app01-3928	363	1	6	6	X
app01-3928	363	2	.	.	X
app01-3928	363	3	conclusion	conclusion	NOUN
app01-3928	363	4	this	this	DET
app01-3928	363	5	paper	paper	NOUN
app01-3928	363	6	addresses	address	NOUN
app01-3928	363	7	the	the	DET
app01-3928	363	8	problem	problem	NOUN
app01-3928	363	9	of	of	ADP
app01-3928	363	10	communication	communication	NOUN
app01-3928	363	11	in	in	ADP
app01-3928	363	12	distributed	distribute	VERB
app01-3928	363	13	multi	multi	ADJ
app01-3928	363	14	-	-	ADJ
app01-3928	363	15	robot	robot	ADJ
app01-3928	363	16	teams	team	NOUN
app01-3928	363	17	forming	form	VERB
app01-3928	363	18	a	a	DET
app01-3928	363	19	mobile	mobile	ADJ
app01-3928	363	20	ad	ad	NOUN
app01-3928	363	21	hoc	hoc	X
app01-3928	363	22	network	network	NOUN
app01-3928	363	23	.	.	PUNCT
app01-3928	364	1	a	a	DET
app01-3928	364	2	list	list	NOUN
app01-3928	364	3	of	of	ADP
app01-3928	364	4	requirements	requirement	NOUN
app01-3928	364	5	for	for	ADP
app01-3928	364	6	a	a	DET
app01-3928	364	7	routing	routing	NOUN
app01-3928	364	8	protocol	protocol	NOUN
app01-3928	364	9	was	be	AUX
app01-3928	364	10	drawn	draw	VERB
app01-3928	364	11	up	up	ADP
app01-3928	364	12	.	.	PUNCT
app01-3928	365	1	the	the	DET
app01-3928	365	2	comparative	comparative	ADJ
app01-3928	365	3	analysis	analysis	NOUN
app01-3928	365	4	of	of	ADP
app01-3928	365	5	routing	route	VERB
app01-3928	365	6	protocols	protocol	NOUN
app01-3928	365	7	has	have	AUX
app01-3928	365	8	shown	show	VERB
app01-3928	365	9	that	that	PRON
app01-3928	365	10	aodv	aodv	NOUN
app01-3928	365	11	routing	routing	NOUN
app01-3928	365	12	protocol	protocol	NOUN
app01-3928	365	13	is	be	AUX
app01-3928	365	14	most	most	ADV
app01-3928	365	15	suitable	suitable	ADJ
app01-3928	365	16	.	.	PUNCT
app01-3928	366	1	in	in	ADP
app01-3928	366	2	addition	addition	NOUN
app01-3928	366	3	,	,	PUNCT
app01-3928	366	4	the	the	DET
app01-3928	366	5	analysis	analysis	NOUN
app01-3928	366	6	of	of	ADP
app01-3928	366	7	three	three	NUM
app01-3928	366	8	moms	mom	NOUN
app01-3928	366	9	was	be	AUX
app01-3928	366	10	conducted	conduct	VERB
app01-3928	366	11	and	and	CCONJ
app01-3928	366	12	the	the	DET
app01-3928	366	13	nanomsg	nanomsg	NOUN
app01-3928	366	14	library	library	NOUN
app01-3928	366	15	was	be	AUX
app01-3928	366	16	chosen	choose	VERB
app01-3928	366	17	as	as	ADP
app01-3928	366	18	the	the	DET
app01-3928	366	19	most	most	ADV
app01-3928	366	20	suitable	suitable	ADJ
app01-3928	366	21	for	for	ADP
app01-3928	366	22	implementation	implementation	NOUN
app01-3928	366	23	.	.	PUNCT
app01-3928	367	1	multi	multi	ADJ
app01-3928	367	2	-	-	ADJ
app01-3928	367	3	robot	robot	ADJ
app01-3928	367	4	exploration	exploration	NOUN
app01-3928	367	5	has	have	AUX
app01-3928	367	6	been	be	AUX
app01-3928	367	7	selected	select	VERB
app01-3928	367	8	as	as	ADP
app01-3928	367	9	a	a	DET
app01-3928	367	10	proofof	proofof	ADJ
app01-3928	367	11	-	-	PUNCT
app01-3928	367	12	concept	concept	NOUN
app01-3928	367	13	task	task	NOUN
app01-3928	367	14	.	.	PUNCT
app01-3928	368	1	the	the	DET
app01-3928	368	2	general	general	ADJ
app01-3928	368	3	structure	structure	NOUN
app01-3928	368	4	of	of	ADP
app01-3928	368	5	the	the	DET
app01-3928	368	6	robot	robot	NOUN
app01-3928	368	7	application	application	NOUN
app01-3928	368	8	which	which	PRON
app01-3928	368	9	carries	carry	VERB
app01-3928	368	10	out	out	ADP
app01-3928	368	11	exploration	exploration	NOUN
app01-3928	368	12	of	of	ADP
app01-3928	368	13	an	an	DET
app01-3928	368	14	unknown	unknown	ADJ
app01-3928	368	15	environment	environment	NOUN
app01-3928	368	16	in	in	ADP
app01-3928	368	17	a	a	DET
app01-3928	368	18	multi	multi	ADJ
app01-3928	368	19	-	-	ADJ
app01-3928	368	20	robot	robot	ADJ
app01-3928	368	21	team	team	NOUN
app01-3928	368	22	and	and	CCONJ
app01-3928	368	23	which	which	PRON
app01-3928	368	24	communicates	communicate	VERB
app01-3928	368	25	with	with	ADP
app01-3928	368	26	other	other	ADJ
app01-3928	368	27	robots	robot	NOUN
app01-3928	368	28	employing	employ	VERB
app01-3928	368	29	aodv	aodv	NOUN
app01-3928	368	30	has	have	AUX
app01-3928	368	31	been	be	AUX
app01-3928	368	32	proposed	propose	VERB
app01-3928	368	33	.	.	PUNCT
app01-3928	369	1	to	to	PART
app01-3928	369	2	verify	verify	VERB
app01-3928	369	3	the	the	DET
app01-3928	369	4	proposed	propose	VERB
app01-3928	369	5	architecture	architecture	NOUN
app01-3928	369	6	and	and	CCONJ
app01-3928	369	7	offered	offer	VERB
app01-3928	369	8	tools	tool	NOUN
app01-3928	369	9	the	the	DET
app01-3928	369	10	application	application	NOUN
app01-3928	369	11	has	have	AUX
app01-3928	369	12	been	be	AUX
app01-3928	369	13	implemented	implement	VERB
app01-3928	369	14	and	and	CCONJ
app01-3928	369	15	has	have	AUX
app01-3928	369	16	been	be	AUX
app01-3928	369	17	tested	test	VERB
app01-3928	369	18	by	by	ADP
app01-3928	369	19	series	series	NOUN
app01-3928	369	20	of	of	ADP
app01-3928	369	21	experiments	experiment	NOUN
app01-3928	369	22	.	.	PUNCT
app01-3928	370	1	thus	thus	ADV
app01-3928	370	2	,	,	PUNCT
app01-3928	370	3	the	the	DET
app01-3928	370	4	paper	paper	NOUN
app01-3928	370	5	describes	describe	VERB
app01-3928	370	6	the	the	DET
app01-3928	370	7	architecture	architecture	NOUN
app01-3928	370	8	of	of	ADP
app01-3928	370	9	the	the	DET
app01-3928	370	10	application	application	NOUN
app01-3928	370	11	and	and	CCONJ
app01-3928	370	12	possible	possible	ADJ
app01-3928	370	13	means	mean	NOUN
app01-3928	370	14	of	of	ADP
app01-3928	370	15	implementation	implementation	NOUN
app01-3928	370	16	in	in	ADP
app01-3928	370	17	a	a	DET
app01-3928	370	18	generalized	generalized	ADJ
app01-3928	370	19	form	form	NOUN
app01-3928	370	20	.	.	PUNCT
app01-3928	371	1	the	the	DET
app01-3928	371	2	specific	specific	ADJ
app01-3928	371	3	implementation	implementation	NOUN
app01-3928	371	4	can	can	AUX
app01-3928	371	5	be	be	AUX
app01-3928	371	6	done	do	VERB
app01-3928	371	7	for	for	ADP
app01-3928	371	8	different	different	ADJ
app01-3928	371	9	systems	system	NOUN
app01-3928	371	10	and	and	CCONJ
app01-3928	371	11	written	write	VERB
app01-3928	371	12	on	on	ADP
app01-3928	371	13	a	a	DET
app01-3928	371	14	wide	wide	ADJ
app01-3928	371	15	range	range	NOUN
app01-3928	371	16	of	of	ADP
app01-3928	371	17	languages	language	NOUN
app01-3928	371	18	.	.	PUNCT
app01-3928	372	1	in	in	ADP
app01-3928	372	2	future	future	NOUN
app01-3928	372	3	,	,	PUNCT
app01-3928	372	4	this	this	DET
app01-3928	372	5	application	application	NOUN
app01-3928	372	6	will	will	AUX
app01-3928	372	7	be	be	AUX
app01-3928	372	8	used	use	VERB
app01-3928	372	9	for	for	ADP
app01-3928	372	10	testing	testing	NOUN
app01-3928	372	11	on	on	ADP
app01-3928	372	12	the	the	DET
app01-3928	372	13	group	group	NOUN
app01-3928	372	14	of	of	ADP
app01-3928	372	15	real	real	ADJ
app01-3928	372	16	robots	robot	NOUN
app01-3928	372	17	that	that	PRON
app01-3928	372	18	solves	solve	VERB
app01-3928	372	19	the	the	DET
app01-3928	372	20	problem	problem	NOUN
app01-3928	372	21	of	of	ADP
app01-3928	372	22	the	the	DET
app01-3928	372	23	exploration	exploration	NOUN
app01-3928	372	24	of	of	ADP
app01-3928	372	25	an	an	DET
app01-3928	372	26	unknown	unknown	ADJ
app01-3928	372	27	environment	environment	NOUN
app01-3928	372	28	.	.	PUNCT
app01-3928	373	1	goal	goal	NOUN
app01-3928	373	2	allocation	allocation	NOUN
app01-3928	373	3	was	be	AUX
app01-3928	373	4	not	not	PART
app01-3928	373	5	addressed	address	VERB
app01-3928	373	6	in	in	ADP
app01-3928	373	7	the	the	DET
app01-3928	373	8	paper	paper	NOUN
app01-3928	373	9	as	as	SCONJ
app01-3928	373	10	it	it	PRON
app01-3928	373	11	was	be	AUX
app01-3928	373	12	out	out	ADP
app01-3928	373	13	of	of	ADP
app01-3928	373	14	scope	scope	NOUN
app01-3928	373	15	of	of	ADP
app01-3928	373	16	it	it	PRON
app01-3928	373	17	.	.	PUNCT
app01-3928	374	1	analysis	analysis	NOUN
app01-3928	374	2	and	and	CCONJ
app01-3928	374	3	comparison	comparison	NOUN
app01-3928	374	4	of	of	ADP
app01-3928	374	5	a	a	DET
app01-3928	374	6	variety	variety	NOUN
app01-3928	374	7	of	of	ADP
app01-3928	374	8	sophisticated	sophisticated	ADJ
app01-3928	374	9	goal	goal	NOUN
app01-3928	374	10	allocation	allocation	NOUN
app01-3928	374	11	mechanisms	mechanism	NOUN
app01-3928	374	12	will	will	AUX
app01-3928	374	13	be	be	AUX
app01-3928	374	14	another	another	DET
app01-3928	374	15	stream	stream	NOUN
app01-3928	374	16	we	we	PRON
app01-3928	374	17	would	would	AUX
app01-3928	374	18	like	like	VERB
app01-3928	374	19	to	to	PART
app01-3928	374	20	go	go	VERB
app01-3928	374	21	in	in	ADP
app01-3928	374	22	future	future	NOUN
app01-3928	374	23	.	.	PUNCT
app01-3928	375	1	acknowledgements	acknowledgement	NOUN
app01-3928	375	2	this	this	DET
app01-3928	375	3	work	work	NOUN
app01-3928	375	4	has	have	AUX
app01-3928	375	5	been	be	AUX
app01-3928	375	6	supported	support	VERB
app01-3928	375	7	by	by	ADP
app01-3928	375	8	the	the	DET
app01-3928	375	9	technology	technology	NOUN
app01-3928	375	10	agency	agency	NOUN
app01-3928	375	11	of	of	ADP
app01-3928	375	12	the	the	DET
app01-3928	375	13	czech	czech	PROPN
app01-3928	375	14	republic	republic	NOUN
app01-3928	375	15	under	under	ADP
app01-3928	375	16	the	the	DET
app01-3928	375	17	project	project	NOUN
app01-3928	375	18	no	no	INTJ
app01-3928	375	19	.	.	PUNCT
app01-3928	376	1	te01020197	te01020197	NOUN
app01-3928	376	2	“	"	PUNCT
app01-3928	376	3	centre	centre	NOUN
app01-3928	376	4	for	for	ADP
app01-3928	376	5	applied	applied	ADJ
app01-3928	376	6	cybernetics	cybernetic	NOUN
app01-3928	376	7	”	"	PUNCT
app01-3928	376	8	.	.	PUNCT
app01-3928	377	1	access	access	NOUN
app01-3928	377	2	to	to	ADP
app01-3928	377	3	computing	computing	NOUN
app01-3928	377	4	and	and	CCONJ
app01-3928	377	5	storage	storage	NOUN
app01-3928	377	6	facilities	facility	NOUN
app01-3928	377	7	owned	own	VERB
app01-3928	377	8	by	by	ADP
app01-3928	377	9	parties	party	NOUN
app01-3928	377	10	and	and	CCONJ
app01-3928	377	11	projects	project	NOUN
app01-3928	377	12	contributing	contribute	VERB
app01-3928	377	13	to	to	ADP
app01-3928	377	14	the	the	DET
app01-3928	377	15	national	national	ADJ
app01-3928	377	16	grid	grid	PROPN
app01-3928	377	17	infrastructure	infrastructure	NOUN
app01-3928	377	18	metacentrum	metacentrum	PROPN
app01-3928	377	19	,	,	PUNCT
app01-3928	377	20	provided	provide	VERB
app01-3928	377	21	under	under	ADP
app01-3928	377	22	the	the	DET
app01-3928	377	23	programme	programme	NOUN
app01-3928	377	24	“	"	PUNCT
app01-3928	377	25	projects	project	NOUN
app01-3928	377	26	of	of	ADP
app01-3928	377	27	large	large	ADJ
app01-3928	377	28	infrastructure	infrastructure	NOUN
app01-3928	377	29	for	for	ADP
app01-3928	377	30	research	research	NOUN
app01-3928	377	31	,	,	PUNCT
app01-3928	377	32	development	development	NOUN
app01-3928	377	33	,	,	PUNCT
app01-3928	377	34	and	and	CCONJ
app01-3928	377	35	innovations	innovation	NOUN
app01-3928	377	36	”	"	PUNCT
app01-3928	377	37	(	(	PUNCT
app01-3928	377	38	lm2010005	lm2010005	PROPN
app01-3928	377	39	)	)	PUNCT
app01-3928	377	40	,	,	PUNCT
app01-3928	377	41	is	be	AUX
app01-3928	377	42	greatly	greatly	ADV
app01-3928	377	43	appreciated	appreciated	ADJ
app01-3928	377	44	.	.	PUNCT
app01-3928	378	1	references	reference	NOUN
app01-3928	378	2	[	[	X
app01-3928	378	3	1	1	NUM
app01-3928	378	4	]	]	PUNCT
app01-3928	378	5	w.	w.	PROPN
app01-3928	378	6	zhigang	zhigang	PROPN
app01-3928	378	7	,	,	PUNCT
app01-3928	378	8	l.	l.	PROPN
app01-3928	378	9	liu	liu	PROPN
app01-3928	378	10	,	,	PUNCT
app01-3928	378	11	m.	m.	NOUN
app01-3928	378	12	zhou	zhou	PROPN
app01-3928	378	13	.	.	PUNCT
app01-3928	379	1	protocols	protocol	NOUN
app01-3928	379	2	and	and	CCONJ
app01-3928	379	3	applications	application	NOUN
app01-3928	379	4	of	of	ADP
app01-3928	379	5	ad	ad	NOUN
app01-3928	379	6	-	-	PUNCT
app01-3928	379	7	hoc	hoc	X
app01-3928	379	8	robot	robot	NOUN
app01-3928	379	9	wireless	wireless	NOUN
app01-3928	379	10	communication	communication	NOUN
app01-3928	379	11	networks	network	NOUN
app01-3928	379	12	:	:	PUNCT
app01-3928	379	13	an	an	DET
app01-3928	379	14	overview	overview	NOUN
app01-3928	379	15	.	.	PUNCT
app01-3928	380	1	international	international	ADJ
app01-3928	380	2	journal	journal	NOUN
app01-3928	380	3	on	on	ADP
app01-3928	380	4	intelligent	intelligent	ADJ
app01-3928	380	5	control	control	NOUN
app01-3928	380	6	systems	system	NOUN
app01-3928	380	7	10(4):296–303	10(4):296–303	NUM
app01-3928	380	8	,	,	PUNCT
app01-3928	380	9	2005	2005	NUM
app01-3928	380	10	.	.	PUNCT
app01-3928	381	1	[	[	X
app01-3928	381	2	2	2	NUM
app01-3928	381	3	]	]	PUNCT
app01-3928	381	4	a.	a.	NOUN
app01-3928	381	5	elkady	elkady	PROPN
app01-3928	381	6	,	,	PUNCT
app01-3928	381	7	t.	t.	NOUN
app01-3928	381	8	sobh	sobh	NOUN
app01-3928	381	9	.	.	PUNCT
app01-3928	382	1	robotics	robotic	NOUN
app01-3928	382	2	middleware	middleware	NOUN
app01-3928	382	3	:	:	PUNCT
app01-3928	382	4	a	a	DET
app01-3928	382	5	comprehensive	comprehensive	ADJ
app01-3928	382	6	literature	literature	NOUN
app01-3928	382	7	survey	survey	NOUN
app01-3928	382	8	and	and	CCONJ
app01-3928	382	9	attribute	attribute	NOUN
app01-3928	382	10	-	-	PUNCT
app01-3928	382	11	based	base	VERB
app01-3928	382	12	bibliography	bibliography	NOUN
app01-3928	382	13	.	.	PUNCT
app01-3928	383	1	journal	journal	PROPN
app01-3928	383	2	of	of	ADP
app01-3928	383	3	robotics	robotic	NOUN
app01-3928	383	4	2012:1–15	2012:1–15	NUM
app01-3928	383	5	,	,	PUNCT
app01-3928	383	6	2012	2012	NUM
app01-3928	383	7	.	.	PUNCT
app01-3928	384	1	doi:10.1155/2012/959013	doi:10.1155/2012/959013	X
app01-3928	384	2	.	.	PUNCT
app01-3928	385	1	[	[	X
app01-3928	385	2	3	3	NUM
app01-3928	385	3	]	]	PUNCT
app01-3928	385	4	b.	b.	PROPN
app01-3928	385	5	p.	p.	PROPN
app01-3928	385	6	gerkey	gerkey	PROPN
app01-3928	385	7	,	,	PUNCT
app01-3928	385	8	r.	r.	PROPN
app01-3928	385	9	t.	t.	PROPN
app01-3928	385	10	vaughan	vaughan	PROPN
app01-3928	385	11	,	,	PUNCT
app01-3928	385	12	a.	a.	PROPN
app01-3928	385	13	howard	howard	PROPN
app01-3928	385	14	.	.	PUNCT
app01-3928	386	1	the	the	DET
app01-3928	386	2	player	player	NOUN
app01-3928	386	3	/	/	SYM
app01-3928	386	4	stage	stage	NOUN
app01-3928	386	5	project	project	NOUN
app01-3928	386	6	:	:	PUNCT
app01-3928	386	7	tools	tool	NOUN
app01-3928	386	8	for	for	ADP
app01-3928	386	9	multi	multi	ADJ
app01-3928	386	10	-	-	NOUN
app01-3928	386	11	robot	robot	ADJ
app01-3928	386	12	and	and	CCONJ
app01-3928	386	13	distributed	distribute	VERB
app01-3928	386	14	sensor	sensor	NOUN
app01-3928	386	15	systems	system	NOUN
app01-3928	386	16	.	.	PUNCT
app01-3928	387	1	in	in	ADP
app01-3928	387	2	in	in	ADP
app01-3928	387	3	proceedings	proceeding	NOUN
app01-3928	387	4	of	of	ADP
app01-3928	387	5	the	the	DET
app01-3928	387	6	11th	11th	ADJ
app01-3928	387	7	international	international	ADJ
app01-3928	387	8	conference	conference	NOUN
app01-3928	387	9	on	on	ADP
app01-3928	387	10	advanced	advanced	ADJ
app01-3928	387	11	robotics	robotic	NOUN
app01-3928	387	12	,	,	PUNCT
app01-3928	387	13	pp	pp	ADJ
app01-3928	387	14	.	.	PUNCT
app01-3928	388	1	317–323	317–323	NUM
app01-3928	388	2	.	.	NOUN
app01-3928	388	3	2003	2003	NUM
app01-3928	388	4	.	.	PUNCT
app01-3928	389	1	[	[	X
app01-3928	389	2	4	4	X
app01-3928	389	3	]	]	X
app01-3928	389	4	ace	ace	PROPN
app01-3928	389	5	/	/	SYM
app01-3928	389	6	tao	tao	PROPN
app01-3928	389	7	,	,	PUNCT
app01-3928	389	8	2016	2016	NUM
app01-3928	389	9	.	.	PUNCT
app01-3928	389	10	http://www.cs.wustl.edu/~schmidt/tao.html	http://www.cs.wustl.edu/~schmidt/tao.html	PROPN
app01-3928	389	11	.	.	PUNCT
app01-3928	390	1	[	[	X
app01-3928	390	2	5	5	NUM
app01-3928	390	3	]	]	X
app01-3928	390	4	corba	corba	NOUN
app01-3928	390	5	,	,	PUNCT
app01-3928	390	6	2016	2016	NUM
app01-3928	390	7	.	.	PUNCT
app01-3928	391	1	http://www.corba.org/.	http://www.corba.org/.	PRON
app01-3928	391	2	25	25	NUM
app01-3928	391	3	http://dx.doi.org/10.1155/2012/959013	http://dx.doi.org/10.1155/2012/959013	PROPN
app01-3928	391	4	http://www.cs.wustl.edu/~schmidt/tao.html	http://www.cs.wustl.edu/~schmidt/tao.html	PROPN
app01-3928	391	5	http://www.corba.org/	http://www.corba.org/	PROPN
app01-3928	391	6	khilda	khilda	PROPN
app01-3928	391	7	slyusar	slyusar	PROPN
app01-3928	391	8	,	,	PUNCT
app01-3928	391	9	miroslav	miroslav	PROPN
app01-3928	391	10	kulich	kulich	PROPN
app01-3928	391	11	acta	acta	PROPN
app01-3928	391	12	polytechnica	polytechnica	PROPN
app01-3928	391	13	ctu	ctu	NOUN
app01-3928	391	14	proceedings	proceeding	NOUN
app01-3928	391	15	(	(	PUNCT
app01-3928	391	16	a	a	X
app01-3928	391	17	)	)	PUNCT
app01-3928	391	18	.	.	PUNCT
app01-3928	392	1	(	(	PUNCT
app01-3928	392	2	b	b	NOUN
app01-3928	392	3	)	)	PUNCT
app01-3928	392	4	.	.	PUNCT
app01-3928	393	1	(	(	PUNCT
app01-3928	393	2	c	c	NOUN
app01-3928	393	3	)	)	PUNCT
app01-3928	393	4	.	.	PUNCT
app01-3928	394	1	(	(	PUNCT
app01-3928	394	2	d	d	NOUN
app01-3928	394	3	)	)	PUNCT
app01-3928	394	4	.	.	PUNCT
app01-3928	395	1	figure	figure	VERB
app01-3928	395	2	4	4	NUM
app01-3928	395	3	.	.	PUNCT
app01-3928	396	1	the	the	DET
app01-3928	396	2	frequency	frequency	NOUN
app01-3928	396	3	of	of	ADP
app01-3928	396	4	plan	plan	NOUN
app01-3928	396	5	generations	generation	NOUN
app01-3928	396	6	for	for	ADP
app01-3928	396	7	an	an	DET
app01-3928	396	8	average	average	ADJ
app01-3928	396	9	robot	robot	NOUN
app01-3928	396	10	from	from	ADP
app01-3928	396	11	the	the	DET
app01-3928	396	12	team	team	NOUN
app01-3928	396	13	that	that	PRON
app01-3928	396	14	consist	consist	VERB
app01-3928	396	15	of	of	ADP
app01-3928	396	16	:	:	PUNCT
app01-3928	396	17	(	(	PUNCT
app01-3928	396	18	a	a	X
app01-3928	396	19	)	)	PUNCT
app01-3928	396	20	1	1	NUM
app01-3928	396	21	robot	robot	NOUN
app01-3928	396	22	;	;	PUNCT
app01-3928	396	23	(	(	PUNCT
app01-3928	396	24	b	b	X
app01-3928	396	25	)	)	PUNCT
app01-3928	396	26	2	2	NUM
app01-3928	396	27	robots	robot	NOUN
app01-3928	396	28	;	;	PUNCT
app01-3928	396	29	(	(	PUNCT
app01-3928	396	30	c	c	X
app01-3928	396	31	)	)	PUNCT
app01-3928	396	32	5	5	NUM
app01-3928	396	33	robots	robot	NOUN
app01-3928	396	34	;	;	PUNCT
app01-3928	396	35	(	(	PUNCT
app01-3928	396	36	d	d	X
app01-3928	396	37	)	)	PUNCT
app01-3928	396	38	10	10	NUM
app01-3928	396	39	robots	robot	NOUN
app01-3928	396	40	.	.	PUNCT
app01-3928	397	1	(	(	PUNCT
app01-3928	397	2	a	a	NOUN
app01-3928	397	3	)	)	PUNCT
app01-3928	397	4	.	.	PUNCT
app01-3928	398	1	(	(	PUNCT
app01-3928	398	2	b	b	NOUN
app01-3928	398	3	)	)	PUNCT
app01-3928	398	4	.	.	PUNCT
app01-3928	399	1	(	(	PUNCT
app01-3928	399	2	c	c	NOUN
app01-3928	399	3	)	)	PUNCT
app01-3928	399	4	.	.	PUNCT
app01-3928	400	1	(	(	PUNCT
app01-3928	400	2	d	d	NOUN
app01-3928	400	3	)	)	PUNCT
app01-3928	400	4	.	.	PUNCT
app01-3928	401	1	figure	figure	NOUN
app01-3928	401	2	5	5	NUM
app01-3928	401	3	.	.	PUNCT
app01-3928	402	1	the	the	DET
app01-3928	402	2	passed	pass	VERB
app01-3928	402	3	paths	path	NOUN
app01-3928	402	4	for	for	ADP
app01-3928	402	5	the	the	DET
app01-3928	402	6	team	team	NOUN
app01-3928	402	7	of	of	ADP
app01-3928	402	8	10	10	NUM
app01-3928	402	9	robots	robot	NOUN
app01-3928	402	10	and	and	CCONJ
app01-3928	402	11	the	the	DET
app01-3928	402	12	laser	laser	NOUN
app01-3928	402	13	range	range	NOUN
app01-3928	402	14	is	be	AUX
app01-3928	402	15	20	20	NUM
app01-3928	402	16	meters	meter	NOUN
app01-3928	402	17	at	at	ADP
app01-3928	402	18	the	the	DET
app01-3928	402	19	step	step	NOUN
app01-3928	402	20	:	:	PUNCT
app01-3928	402	21	(	(	PUNCT
app01-3928	402	22	a	a	X
app01-3928	402	23	)	)	PUNCT
app01-3928	402	24	80	80	NUM
app01-3928	402	25	;	;	PUNCT
app01-3928	402	26	(	(	PUNCT
app01-3928	402	27	b	b	X
app01-3928	402	28	)	)	PUNCT
app01-3928	402	29	580	580	NUM
app01-3928	402	30	;	;	PUNCT
app01-3928	402	31	(	(	PUNCT
app01-3928	402	32	c	c	X
app01-3928	402	33	)	)	PUNCT
app01-3928	402	34	800	800	NUM
app01-3928	402	35	;	;	PUNCT
app01-3928	402	36	(	(	PUNCT
app01-3928	402	37	d	d	X
app01-3928	402	38	)	)	PUNCT
app01-3928	402	39	after	after	ADP
app01-3928	402	40	finishing	finish	VERB
app01-3928	402	41	exploration	exploration	NOUN
app01-3928	402	42	.	.	PUNCT
app01-3928	403	1	[	[	X
app01-3928	403	2	6	6	NUM
app01-3928	403	3	]	]	PUNCT
app01-3928	403	4	i.	i.	PROPN
app01-3928	403	5	a.	a.	PROPN
app01-3928	403	6	d.	d.	PROPN
app01-3928	403	7	nesnas	nesnas	PROPN
app01-3928	403	8	.	.	PUNCT
app01-3928	404	1	the	the	DET
app01-3928	404	2	claraty	claraty	PROPN
app01-3928	404	3	project	project	NOUN
app01-3928	404	4	:	:	PUNCT
app01-3928	404	5	coping	cope	VERB
app01-3928	404	6	with	with	ADP
app01-3928	404	7	hardware	hardware	NOUN
app01-3928	404	8	and	and	CCONJ
app01-3928	404	9	software	software	NOUN
app01-3928	404	10	heterogeneity	heterogeneity	NOUN
app01-3928	404	11	,	,	PUNCT
app01-3928	404	12	pp	pp	ADJ
app01-3928	404	13	.	.	PUNCT
app01-3928	404	14	31–70	31–70	NUM
app01-3928	404	15	.	.	PUNCT
app01-3928	405	1	springer	springer	PROPN
app01-3928	405	2	berlin	berlin	PROPN
app01-3928	405	3	heidelberg	heidelberg	PROPN
app01-3928	405	4	,	,	PUNCT
app01-3928	405	5	berlin	berlin	PROPN
app01-3928	405	6	,	,	PUNCT
app01-3928	405	7	heidelberg	heidelberg	PROPN
app01-3928	405	8	,	,	PUNCT
app01-3928	405	9	2007	2007	NUM
app01-3928	405	10	.	.	PUNCT
app01-3928	406	1	doi:10.1007/978	doi:10.1007/978	ADJ
app01-3928	406	2	-	-	PUNCT
app01-3928	406	3	3	3	NUM
app01-3928	406	4	-	-	PUNCT
app01-3928	406	5	540	540	NUM
app01-3928	406	6	-	-	PUNCT
app01-3928	406	7	68951	68951	NUM
app01-3928	406	8	-	-	PUNCT
app01-3928	406	9	5_3	5_3	NUM
app01-3928	406	10	.	.	PUNCT
app01-3928	407	1	[	[	X
app01-3928	407	2	7	7	X
app01-3928	407	3	]	]	X
app01-3928	407	4	h.	h.	PROPN
app01-3928	407	5	utz	utz	PROPN
app01-3928	407	6	,	,	PUNCT
app01-3928	407	7	s.	s.	PROPN
app01-3928	407	8	sablatnög	sablatnög	PROPN
app01-3928	407	9	,	,	PUNCT
app01-3928	407	10	s.	s.	PROPN
app01-3928	407	11	enderle	enderle	PROPN
app01-3928	407	12	,	,	PUNCT
app01-3928	407	13	g.	g.	PROPN
app01-3928	407	14	k.	k.	PROPN
app01-3928	407	15	kraetzschmar	kraetzschmar	PROPN
app01-3928	407	16	.	.	PUNCT
app01-3928	408	1	miro	miro	PROPN
app01-3928	408	2	middleware	middleware	PROPN
app01-3928	408	3	for	for	ADP
app01-3928	408	4	mobile	mobile	NOUN
app01-3928	408	5	robot	robot	NOUN
app01-3928	408	6	applications	application	NOUN
app01-3928	408	7	.	.	PUNCT
app01-3928	409	1	ieee	ieee	NOUN
app01-3928	409	2	transactions	transaction	NOUN
app01-3928	409	3	on	on	ADP
app01-3928	409	4	robotics	robotic	NOUN
app01-3928	409	5	and	and	CCONJ
app01-3928	409	6	automation	automation	NOUN
app01-3928	409	7	18(4):493–497	18(4):493–497	PROPN
app01-3928	409	8	,	,	PUNCT
app01-3928	409	9	2002	2002	NUM
app01-3928	409	10	.	.	PUNCT
app01-3928	410	1	doi:10.1109	doi:10.1109	VERB
app01-3928	410	2	/	/	SYM
app01-3928	410	3	tra.2002.802930	tra.2002.802930	NOUN
app01-3928	410	4	.	.	PUNCT
app01-3928	411	1	[	[	X
app01-3928	411	2	8	8	NUM
app01-3928	411	3	]	]	X
app01-3928	411	4	h.	h.	PROPN
app01-3928	411	5	bruyninckx	bruyninckx	PROPN
app01-3928	411	6	,	,	PUNCT
app01-3928	411	7	p.	p.	PROPN
app01-3928	411	8	soetens	soetens	PROPN
app01-3928	411	9	,	,	PUNCT
app01-3928	411	10	b.	b.	PROPN
app01-3928	411	11	koninckx	koninckx	PROPN
app01-3928	411	12	.	.	PUNCT
app01-3928	412	1	the	the	DET
app01-3928	412	2	realtime	realtime	ADJ
app01-3928	412	3	motion	motion	NOUN
app01-3928	412	4	control	control	NOUN
app01-3928	412	5	core	core	NOUN
app01-3928	412	6	of	of	ADP
app01-3928	412	7	the	the	DET
app01-3928	412	8	orocos	oroco	NOUN
app01-3928	412	9	project	project	NOUN
app01-3928	412	10	.	.	PUNCT
app01-3928	413	1	in	in	ADP
app01-3928	413	2	ieee	ieee	PROPN
app01-3928	413	3	international	international	ADJ
app01-3928	413	4	conference	conference	NOUN
app01-3928	413	5	on	on	ADP
app01-3928	413	6	robotics	robotic	NOUN
app01-3928	413	7	and	and	CCONJ
app01-3928	413	8	automation	automation	NOUN
app01-3928	413	9	,	,	PUNCT
app01-3928	413	10	pp	pp	ADP
app01-3928	413	11	.	.	PUNCT
app01-3928	413	12	2766–2771	2766–2771	NUM
app01-3928	413	13	.	.	PUNCT
app01-3928	413	14	2003	2003	NUM
app01-3928	413	15	.	.	PUNCT
app01-3928	414	1	doi:10.1109	doi:10.1109	VERB
app01-3928	414	2	/	/	SYM
app01-3928	414	3	robot.2003.1242011	robot.2003.1242011	NOUN
app01-3928	414	4	.	.	PUNCT
app01-3928	415	1	[	[	X
app01-3928	415	2	9	9	NUM
app01-3928	415	3	]	]	SYM
app01-3928	415	4	zeroc	zeroc	NOUN
app01-3928	415	5	.	.	PUNCT
app01-3928	415	6	ice	ice	NOUN
app01-3928	415	7	,	,	PUNCT
app01-3928	415	8	2016	2016	NUM
app01-3928	415	9	.	.	PUNCT
app01-3928	416	1	https://zeroc.com/products/ice	https://zeroc.com/products/ice	X
app01-3928	416	2	.	.	PUNCT
app01-3928	417	1	[	[	X
app01-3928	417	2	10	10	NUM
app01-3928	417	3	]	]	PUNCT
app01-3928	417	4	a.	a.	NOUN
app01-3928	417	5	brooks	brooks	PROPN
app01-3928	417	6	,	,	PUNCT
app01-3928	417	7	t.	t.	PROPN
app01-3928	417	8	kaupp	kaupp	PROPN
app01-3928	417	9	,	,	PUNCT
app01-3928	417	10	a.	a.	NOUN
app01-3928	417	11	makarenko	makarenko	PROPN
app01-3928	417	12	,	,	PUNCT
app01-3928	417	13	et	et	PROPN
app01-3928	417	14	al	al	PROPN
app01-3928	417	15	.	.	PROPN
app01-3928	417	16	orca	orca	PROPN
app01-3928	417	17	:	:	PUNCT
app01-3928	417	18	a	a	DET
app01-3928	417	19	component	component	NOUN
app01-3928	417	20	model	model	NOUN
app01-3928	417	21	and	and	CCONJ
app01-3928	417	22	repository	repository	NOUN
app01-3928	417	23	.	.	PUNCT
app01-3928	418	1	in	in	ADP
app01-3928	418	2	springer	springer	NOUN
app01-3928	418	3	tracts	tract	NOUN
app01-3928	418	4	in	in	ADP
app01-3928	418	5	advanced	advanced	ADJ
app01-3928	418	6	robotics	robotic	NOUN
app01-3928	418	7	,	,	PUNCT
app01-3928	418	8	pp	pp	ADJ
app01-3928	418	9	.	.	PUNCT
app01-3928	419	1	231–251	231–251	NUM
app01-3928	419	2	.	.	PUNCT
app01-3928	420	1	springer	springer	PROPN
app01-3928	420	2	berlin	berlin	PROPN
app01-3928	420	3	heidelberg	heidelberg	PROPN
app01-3928	420	4	,	,	PUNCT
app01-3928	420	5	2007	2007	NUM
app01-3928	420	6	.	.	PUNCT
app01-3928	421	1	doi:10.1007/978	doi:10.1007/978	ADJ
app01-3928	421	2	-	-	PUNCT
app01-3928	421	3	3	3	NUM
app01-3928	421	4	-	-	PUNCT
app01-3928	421	5	540	540	NUM
app01-3928	421	6	-	-	PUNCT
app01-3928	421	7	68951	68951	NUM
app01-3928	421	8	-	-	SYM
app01-3928	421	9	5_13	5_13	NUM
app01-3928	421	10	.	.	PUNCT
app01-3928	422	1	[	[	X
app01-3928	422	2	11	11	NUM
app01-3928	422	3	]	]	PUNCT
app01-3928	422	4	l.	l.	PROPN
app01-3928	422	5	lima	lima	PROPN
app01-3928	422	6	,	,	PUNCT
app01-3928	422	7	a.	a.	NOUN
app01-3928	422	8	calsavara	calsavara	PROPN
app01-3928	422	9	.	.	PUNCT
app01-3928	423	1	a	a	DET
app01-3928	423	2	framework	framework	NOUN
app01-3928	423	3	for	for	ADP
app01-3928	423	4	corba	corba	NOUN
app01-3928	423	5	interoperability	interoperability	NOUN
app01-3928	423	6	in	in	ADP
app01-3928	423	7	ad	ad	X
app01-3928	423	8	hoc	hoc	X
app01-3928	423	9	networks	network	NOUN
app01-3928	423	10	.	.	PUNCT
app01-3928	424	1	in	in	ADP
app01-3928	424	2	acm	acm	NOUN
app01-3928	424	3	symposium	symposium	NOUN
app01-3928	424	4	on	on	ADP
app01-3928	424	5	applied	apply	VERB
app01-3928	424	6	computing	computing	NOUN
app01-3928	424	7	,	,	PUNCT
app01-3928	424	8	pp	pp	ADJ
app01-3928	424	9	.	.	PUNCT
app01-3928	425	1	930–934	930–934	NUM
app01-3928	425	2	.	.	PUNCT
app01-3928	425	3	acm	acm	PROPN
app01-3928	425	4	,	,	PUNCT
app01-3928	425	5	2007	2007	NUM
app01-3928	425	6	.	.	PUNCT
app01-3928	425	7	doi:10.1145/1244002.1244206	doi:10.1145/1244002.1244206	NOUN
app01-3928	425	8	.	.	PUNCT
app01-3928	426	1	[	[	X
app01-3928	426	2	12	12	NUM
app01-3928	426	3	]	]	PUNCT
app01-3928	426	4	m.	m.	NOUN
app01-3928	426	5	quigley	quigley	PROPN
app01-3928	426	6	,	,	PUNCT
app01-3928	426	7	k.	k.	PROPN
app01-3928	426	8	conley	conley	PROPN
app01-3928	426	9	,	,	PUNCT
app01-3928	426	10	b.	b.	PROPN
app01-3928	426	11	p.	p.	PROPN
app01-3928	426	12	gerkey	gerkey	PROPN
app01-3928	426	13	,	,	PUNCT
app01-3928	426	14	et	et	PROPN
app01-3928	426	15	al	al	PROPN
app01-3928	426	16	.	.	PUNCT
app01-3928	427	1	ros	ros	PROPN
app01-3928	427	2	:	:	PUNCT
app01-3928	427	3	an	an	DET
app01-3928	427	4	open	open	ADJ
app01-3928	427	5	-	-	PUNCT
app01-3928	427	6	source	source	NOUN
app01-3928	427	7	robot	robot	NOUN
app01-3928	427	8	operating	operating	NOUN
app01-3928	427	9	system	system	NOUN
app01-3928	427	10	.	.	PUNCT
app01-3928	428	1	in	in	ADP
app01-3928	428	2	ieee	ieee	PROPN
app01-3928	428	3	international	international	ADJ
app01-3928	428	4	conference	conference	NOUN
app01-3928	428	5	on	on	ADP
app01-3928	428	6	robotics	robotic	NOUN
app01-3928	428	7	and	and	CCONJ
app01-3928	428	8	automation	automation	NOUN
app01-3928	428	9	(	(	PUNCT
app01-3928	428	10	icra	icra	PROPN
app01-3928	428	11	)	)	PUNCT
app01-3928	428	12	–	–	PUNCT
app01-3928	428	13	workshop	workshop	NOUN
app01-3928	428	14	on	on	ADP
app01-3928	428	15	open	open	ADJ
app01-3928	428	16	source	source	NOUN
app01-3928	428	17	robotics	robotic	NOUN
app01-3928	428	18	.	.	PUNCT
app01-3928	429	1	2009	2009	NUM
app01-3928	429	2	.	.	PUNCT
app01-3928	430	1	[	[	X
app01-3928	430	2	13	13	NUM
app01-3928	430	3	]	]	X
app01-3928	430	4	u.	u.	NOUN
app01-3928	430	5	witkowski	witkowski	PROPN
app01-3928	430	6	,	,	PUNCT
app01-3928	430	7	m.	m.	PROPN
app01-3928	430	8	el	el	PROPN
app01-3928	430	9	-	-	PROPN
app01-3928	430	10	habbal	habbal	PROPN
app01-3928	430	11	,	,	PUNCT
app01-3928	430	12	s.	s.	PROPN
app01-3928	430	13	herbrechtsmeier	herbrechtsmeier	PROPN
app01-3928	430	14	,	,	PUNCT
app01-3928	430	15	et	et	PROPN
app01-3928	431	1	al	al	PROPN
app01-3928	431	2	.	.	PUNCT
app01-3928	431	3	ad	ad	NOUN
app01-3928	431	4	-	-	PUNCT
app01-3928	431	5	hoc	hoc	X
app01-3928	431	6	network	network	NOUN
app01-3928	431	7	communication	communication	NOUN
app01-3928	431	8	infrastructure	infrastructure	NOUN
app01-3928	431	9	for	for	ADP
app01-3928	431	10	multi	multi	ADJ
app01-3928	431	11	-	-	ADJ
app01-3928	431	12	robot	robot	ADJ
app01-3928	431	13	systems	system	NOUN
app01-3928	431	14	in	in	ADP
app01-3928	431	15	disaster	disaster	NOUN
app01-3928	431	16	scenarios	scenario	NOUN
app01-3928	431	17	.	.	PUNCT
app01-3928	432	1	in	in	ADP
app01-3928	432	2	proceedings	proceeding	NOUN
app01-3928	432	3	of	of	ADP
app01-3928	432	4	the	the	DET
app01-3928	432	5	international	international	ADJ
app01-3928	432	6	workshop	workshop	NOUN
app01-3928	432	7	on	on	ADP
app01-3928	432	8	robotics	robotic	NOUN
app01-3928	432	9	for	for	ADP
app01-3928	432	10	risky	risky	ADJ
app01-3928	432	11	interventions	intervention	NOUN
app01-3928	432	12	and	and	CCONJ
app01-3928	432	13	surveillance	surveillance	NOUN
app01-3928	432	14	of	of	ADP
app01-3928	432	15	the	the	DET
app01-3928	432	16	environment	environment	NOUN
app01-3928	432	17	.	.	PUNCT
app01-3928	433	1	2008	2008	NUM
app01-3928	433	2	.	.	PUNCT
app01-3928	434	1	[	[	X
app01-3928	434	2	14	14	NUM
app01-3928	434	3	]	]	X
app01-3928	434	4	n.	n.	PROPN
app01-3928	434	5	correll	correll	PROPN
app01-3928	434	6	,	,	PUNCT
app01-3928	434	7	j.	j.	PROPN
app01-3928	434	8	bachrach	bachrach	PROPN
app01-3928	434	9	,	,	PUNCT
app01-3928	434	10	d.	d.	PROPN
app01-3928	434	11	vickery	vickery	PROPN
app01-3928	434	12	,	,	PUNCT
app01-3928	434	13	d.	d.	PROPN
app01-3928	434	14	rus	rus	PROPN
app01-3928	434	15	.	.	PROPN
app01-3928	434	16	ad	ad	NOUN
app01-3928	434	17	-	-	PUNCT
app01-3928	434	18	hoc	hoc	X
app01-3928	434	19	wireless	wireless	NOUN
app01-3928	434	20	network	network	NOUN
app01-3928	434	21	coverage	coverage	NOUN
app01-3928	434	22	with	with	ADP
app01-3928	434	23	networked	networked	ADJ
app01-3928	434	24	robots	robot	NOUN
app01-3928	434	25	that	that	PRON
app01-3928	434	26	can	can	AUX
app01-3928	434	27	not	not	PART
app01-3928	434	28	localize	localize	VERB
app01-3928	434	29	.	.	PUNCT
app01-3928	435	1	in	in	ADP
app01-3928	435	2	ieee	ieee	PROPN
app01-3928	435	3	international	international	ADJ
app01-3928	435	4	conference	conference	NOUN
app01-3928	435	5	on	on	ADP
app01-3928	435	6	robotics	robotic	NOUN
app01-3928	435	7	and	and	CCONJ
app01-3928	435	8	automation	automation	NOUN
app01-3928	435	9	,	,	PUNCT
app01-3928	435	10	pp	pp	ADP
app01-3928	435	11	.	.	PUNCT
app01-3928	435	12	3878–3885	3878–3885	NUM
app01-3928	435	13	.	.	PUNCT
app01-3928	435	14	2009	2009	NUM
app01-3928	435	15	.	.	PUNCT
app01-3928	436	1	doi:10.1109	doi:10.1109	VERB
app01-3928	436	2	/	/	SYM
app01-3928	436	3	robot.2009.5152742	robot.2009.5152742	NUM
app01-3928	436	4	.	.	PUNCT
app01-3928	437	1	[	[	X
app01-3928	437	2	15	15	NUM
app01-3928	437	3	]	]	X
app01-3928	437	4	p.	p.	NOUN
app01-3928	437	5	jacquet	jacquet	NOUN
app01-3928	437	6	,	,	PUNCT
app01-3928	437	7	p.	p.	NOUN
app01-3928	437	8	muhlethaler	muhlethaler	NOUN
app01-3928	437	9	,	,	PUNCT
app01-3928	437	10	t.	t.	PROPN
app01-3928	437	11	clausen	clausen	PROPN
app01-3928	437	12	,	,	PUNCT
app01-3928	437	13	et	et	PROPN
app01-3928	437	14	al	al	PROPN
app01-3928	437	15	.	.	PROPN
app01-3928	437	16	optimized	optimize	VERB
app01-3928	437	17	link	link	NOUN
app01-3928	437	18	state	state	NOUN
app01-3928	437	19	routing	routing	NOUN
app01-3928	437	20	protocol	protocol	NOUN
app01-3928	437	21	for	for	ADP
app01-3928	437	22	ad	ad	X
app01-3928	437	23	hoc	hoc	X
app01-3928	437	24	networks	network	NOUN
app01-3928	437	25	.	.	PUNCT
app01-3928	438	1	in	in	ADP
app01-3928	438	2	proc	proc	PROPN
app01-3928	438	3	.	.	PUNCT
app01-3928	439	1	ieee	ieee	PROPN
app01-3928	439	2	international	international	PROPN
app01-3928	439	3	multitopic	multitopic	ADJ
app01-3928	439	4	conference	conference	NOUN
app01-3928	439	5	(	(	PUNCT
app01-3928	439	6	inmic’01	inmic’01	PROPN
app01-3928	439	7	)	)	PUNCT
app01-3928	439	8	,	,	PUNCT
app01-3928	439	9	pp	pp	PROPN
app01-3928	439	10	.	.	PUNCT
app01-3928	440	1	62–68	62–68	PROPN
app01-3928	440	2	.	.	PUNCT
app01-3928	441	1	institute	institute	PROPN
app01-3928	441	2	of	of	ADP
app01-3928	441	3	electrical	electrical	ADJ
app01-3928	441	4	and	and	CCONJ
app01-3928	441	5	electronics	electronic	NOUN
app01-3928	441	6	engineers	engineer	NOUN
app01-3928	441	7	(	(	PUNCT
app01-3928	441	8	ieee	ieee	NOUN
app01-3928	441	9	)	)	PUNCT
app01-3928	441	10	,	,	PUNCT
app01-3928	441	11	lahore	lahore	NOUN
app01-3928	441	12	,	,	PUNCT
app01-3928	441	13	pakistan	pakistan	PROPN
app01-3928	441	14	,	,	PUNCT
app01-3928	441	15	2001	2001	NUM
app01-3928	441	16	.	.	PUNCT
app01-3928	442	1	doi:10.1109	doi:10.1109	VERB
app01-3928	442	2	/	/	SYM
app01-3928	442	3	inmic.2001.995315	inmic.2001.995315	PROPN
app01-3928	442	4	.	.	PUNCT
app01-3928	443	1	[	[	X
app01-3928	443	2	16	16	NUM
app01-3928	443	3	]	]	PUNCT
app01-3928	443	4	a.	a.	NOUN
app01-3928	443	5	derbakova	derbakova	PROPN
app01-3928	443	6	,	,	PUNCT
app01-3928	443	7	n.	n.	PROPN
app01-3928	443	8	correll	correll	PROPN
app01-3928	443	9	,	,	PUNCT
app01-3928	443	10	d.	d.	PROPN
app01-3928	443	11	rus	rus	PROPN
app01-3928	443	12	.	.	PROPN
app01-3928	443	13	decentralized	decentralize	VERB
app01-3928	443	14	self	self	NOUN
app01-3928	443	15	-	-	PUNCT
app01-3928	443	16	repair	repair	NOUN
app01-3928	443	17	to	to	PART
app01-3928	443	18	maintain	maintain	VERB
app01-3928	443	19	connectivity	connectivity	NOUN
app01-3928	443	20	and	and	CCONJ
app01-3928	443	21	coverage	coverage	NOUN
app01-3928	443	22	in	in	ADP
app01-3928	443	23	26	26	NUM
app01-3928	443	24	http://dx.doi.org/10.1007/978-3-540-68951-5_3	http://dx.doi.org/10.1007/978-3-540-68951-5_3	ADJ
app01-3928	443	25	http://dx.doi.org/10.1109/tra.2002.802930	http://dx.doi.org/10.1109/tra.2002.802930	NOUN
app01-3928	443	26	http://dx.doi.org/10.1109/robot.2003.1242011	http://dx.doi.org/10.1109/robot.2003.1242011	VERB
app01-3928	444	1	https://zeroc.com/products/ice	https://zeroc.com/products/ice	PRON
app01-3928	444	2	http://dx.doi.org/10.1007/978-3-540-68951-5_13	http://dx.doi.org/10.1007/978-3-540-68951-5_13	VERB
app01-3928	444	3	http://dx.doi.org/10.1145/1244002.1244206	http://dx.doi.org/10.1145/1244002.1244206	VERB
app01-3928	444	4	http://dx.doi.org/10.1109/robot.2009.5152742	http://dx.doi.org/10.1109/robot.2009.5152742	NOUN
app01-3928	444	5	http://dx.doi.org/10.1109/inmic.2001.995315	http://dx.doi.org/10.1109/inmic.2001.995315	PROPN
app01-3928	444	6	vol	vol	NOUN
app01-3928	444	7	.	.	PUNCT
app01-3928	445	1	6/2016	6/2016	NUM
app01-3928	445	2	framework	framework	NOUN
app01-3928	445	3	for	for	ADP
app01-3928	445	4	ad	ad	X
app01-3928	445	5	hoc	hoc	X
app01-3928	445	6	network	network	NOUN
app01-3928	445	7	communication	communication	NOUN
app01-3928	445	8	in	in	ADP
app01-3928	445	9	multi	multi	ADJ
app01-3928	445	10	-	-	ADJ
app01-3928	445	11	robot	robot	ADJ
app01-3928	445	12	systems	system	NOUN
app01-3928	445	13	networked	network	VERB
app01-3928	445	14	multi	multi	ADJ
app01-3928	445	15	-	-	ADJ
app01-3928	445	16	robot	robot	ADJ
app01-3928	445	17	systems	system	NOUN
app01-3928	445	18	.	.	PUNCT
app01-3928	446	1	in	in	ADP
app01-3928	446	2	ieee	ieee	PROPN
app01-3928	446	3	international	international	ADJ
app01-3928	446	4	conference	conference	NOUN
app01-3928	446	5	on	on	ADP
app01-3928	446	6	robotics	robotic	NOUN
app01-3928	446	7	and	and	CCONJ
app01-3928	446	8	automation	automation	NOUN
app01-3928	446	9	,	,	PUNCT
app01-3928	446	10	pp	pp	X
app01-3928	446	11	.	.	PUNCT
app01-3928	447	1	3863–3868	3863–3868	NUM
app01-3928	447	2	.	.	PUNCT
app01-3928	448	1	2011	2011	NUM
app01-3928	448	2	.	.	PUNCT
app01-3928	449	1	doi:10.1109	doi:10.1109	VERB
app01-3928	449	2	/	/	SYM
app01-3928	449	3	icra.2011.5980367	icra.2011.5980367	NOUN
app01-3928	449	4	.	.	PUNCT
app01-3928	450	1	[	[	X
app01-3928	450	2	17	17	NUM
app01-3928	450	3	]	]	X
app01-3928	450	4	r.	r.	PROPN
app01-3928	450	5	agrawal	agrawal	PROPN
app01-3928	450	6	,	,	PUNCT
app01-3928	450	7	r.	r.	PROPN
app01-3928	450	8	tripathi	tripathi	PROPN
app01-3928	450	9	,	,	PUNCT
app01-3928	450	10	s.	s.	PROPN
app01-3928	450	11	tiwari	tiwari	PROPN
app01-3928	450	12	.	.	PUNCT
app01-3928	451	1	performance	performance	NOUN
app01-3928	451	2	evaluation	evaluation	NOUN
app01-3928	451	3	and	and	CCONJ
app01-3928	451	4	comparison	comparison	NOUN
app01-3928	451	5	of	of	ADP
app01-3928	451	6	aodv	aodv	NOUN
app01-3928	451	7	and	and	CCONJ
app01-3928	451	8	dsr	dsr	NOUN
app01-3928	451	9	under	under	ADP
app01-3928	451	10	adversarial	adversarial	ADJ
app01-3928	451	11	environment	environment	NOUN
app01-3928	451	12	.	.	PUNCT
app01-3928	452	1	in	in	ADP
app01-3928	452	2	ieee	ieee	PROPN
app01-3928	452	3	international	international	ADJ
app01-3928	452	4	conference	conference	NOUN
app01-3928	452	5	on	on	ADP
app01-3928	452	6	computational	computational	ADJ
app01-3928	452	7	intelligence	intelligence	NOUN
app01-3928	452	8	and	and	CCONJ
app01-3928	452	9	communication	communication	NOUN
app01-3928	452	10	networks	network	NOUN
app01-3928	452	11	,	,	PUNCT
app01-3928	452	12	pp	pp	ADV
app01-3928	452	13	.	.	PUNCT
app01-3928	453	1	596–600	596–600	NUM
app01-3928	453	2	.	.	NOUN
app01-3928	453	3	2011	2011	NUM
app01-3928	453	4	.	.	PUNCT
app01-3928	454	1	doi:10.1109	doi:10.1109	ADJ
app01-3928	454	2	/	/	SYM
app01-3928	454	3	cicn.2011.129	cicn.2011.129	PROPN
app01-3928	454	4	.	.	PUNCT
app01-3928	455	1	[	[	X
app01-3928	455	2	18	18	NUM
app01-3928	455	3	]	]	X
app01-3928	455	4	b.	b.	PROPN
app01-3928	455	5	b.	b.	PROPN
app01-3928	455	6	maqbool	maqbool	PROPN
app01-3928	455	7	,	,	PUNCT
app01-3928	455	8	m.	m.	NOUN
app01-3928	455	9	a.	a.	NOUN
app01-3928	455	10	peer	peer	NOUN
app01-3928	455	11	.	.	PUNCT
app01-3928	456	1	classification	classification	NOUN
app01-3928	456	2	of	of	ADP
app01-3928	456	3	current	current	ADJ
app01-3928	456	4	routing	routing	NOUN
app01-3928	456	5	protocols	protocol	NOUN
app01-3928	456	6	for	for	ADP
app01-3928	456	7	ad	ad	X
app01-3928	456	8	hoc	hoc	X
app01-3928	456	9	networks	network	NOUN
app01-3928	456	10	a	a	DET
app01-3928	456	11	review	review	NOUN
app01-3928	456	12	.	.	PUNCT
app01-3928	457	1	international	international	ADJ
app01-3928	457	2	journal	journal	PROPN
app01-3928	457	3	of	of	ADP
app01-3928	457	4	computer	computer	NOUN
app01-3928	457	5	applications	application	NOUN
app01-3928	457	6	7(8):26–32	7(8):26–32	NUM
app01-3928	457	7	,	,	PUNCT
app01-3928	457	8	2010	2010	NUM
app01-3928	457	9	.	.	PUNCT
app01-3928	458	1	doi:10.5120/1270	doi:10.5120/1270	NOUN
app01-3928	458	2	-	-	PUNCT
app01-3928	458	3	1749	1749	NUM
app01-3928	458	4	.	.	PUNCT
app01-3928	459	1	[	[	X
app01-3928	459	2	19	19	NUM
app01-3928	459	3	]	]	X
app01-3928	459	4	h.	h.	PROPN
app01-3928	459	5	ehsan	ehsan	PROPN
app01-3928	459	6	,	,	PUNCT
app01-3928	459	7	z.	z.	PROPN
app01-3928	459	8	a.	a.	PROPN
app01-3928	459	9	uzmi	uzmi	PROPN
app01-3928	459	10	.	.	PUNCT
app01-3928	460	1	performance	performance	NOUN
app01-3928	460	2	comparison	comparison	NOUN
app01-3928	460	3	of	of	ADP
app01-3928	460	4	ad	ad	X
app01-3928	460	5	hoc	hoc	X
app01-3928	460	6	wireless	wireless	NOUN
app01-3928	460	7	network	network	NOUN
app01-3928	460	8	routing	routing	NOUN
app01-3928	460	9	protocols	protocol	NOUN
app01-3928	460	10	.	.	PUNCT
app01-3928	461	1	in	in	ADP
app01-3928	461	2	ieee	ieee	PROPN
app01-3928	461	3	international	international	PROPN
app01-3928	461	4	multitopic	multitopic	ADJ
app01-3928	461	5	conference	conference	NOUN
app01-3928	461	6	,	,	PUNCT
app01-3928	461	7	pp	pp	X
app01-3928	461	8	.	.	PUNCT
app01-3928	462	1	457–465	457–465	NUM
app01-3928	462	2	.	.	PUNCT
app01-3928	463	1	2004	2004	NUM
app01-3928	463	2	.	.	PUNCT
app01-3928	464	1	doi:10.1109	doi:10.1109	VERB
app01-3928	464	2	/	/	SYM
app01-3928	464	3	inmic.2004.1492924	inmic.2004.1492924	NUM
app01-3928	464	4	.	.	PUNCT
app01-3928	465	1	[	[	X
app01-3928	465	2	20	20	NUM
app01-3928	465	3	]	]	PUNCT
app01-3928	465	4	a.	a.	NOUN
app01-3928	465	5	hinds	hinds	PROPN
app01-3928	465	6	,	,	PUNCT
app01-3928	465	7	m.	m.	NOUN
app01-3928	465	8	ngulube	ngulube	NOUN
app01-3928	465	9	,	,	PUNCT
app01-3928	465	10	s.	s.	PROPN
app01-3928	465	11	zhu	zhu	PROPN
app01-3928	465	12	,	,	PUNCT
app01-3928	465	13	h.	h.	PROPN
app01-3928	465	14	al	al	PROPN
app01-3928	465	15	-	-	PUNCT
app01-3928	465	16	aqrabi	aqrabi	PROPN
app01-3928	465	17	.	.	PUNCT
app01-3928	466	1	a	a	DET
app01-3928	466	2	review	review	NOUN
app01-3928	466	3	of	of	ADP
app01-3928	466	4	routing	route	VERB
app01-3928	466	5	protocols	protocol	NOUN
app01-3928	466	6	for	for	ADP
app01-3928	466	7	mobile	mobile	ADJ
app01-3928	466	8	ad	ad	NOUN
app01-3928	466	9	-	-	PUNCT
app01-3928	466	10	hoc	hoc	X
app01-3928	466	11	networks	network	NOUN
app01-3928	466	12	(	(	PUNCT
app01-3928	466	13	manet	manet	NOUN
app01-3928	466	14	)	)	PUNCT
app01-3928	466	15	.	.	PUNCT
app01-3928	467	1	international	international	ADJ
app01-3928	467	2	journal	journal	PROPN
app01-3928	467	3	of	of	ADP
app01-3928	467	4	information	information	NOUN
app01-3928	467	5	and	and	CCONJ
app01-3928	467	6	education	education	NOUN
app01-3928	467	7	technology	technology	NOUN
app01-3928	467	8	3(1):1–5	3(1):1–5	NUM
app01-3928	467	9	,	,	PUNCT
app01-3928	467	10	2013	2013	NUM
app01-3928	467	11	.	.	PUNCT
app01-3928	468	1	doi:10.7763	doi:10.7763	PROPN
app01-3928	468	2	/	/	SYM
app01-3928	468	3	ijiet.2013.v3.223	ijiet.2013.v3.223	PROPN
app01-3928	468	4	.	.	PUNCT
app01-3928	469	1	[	[	X
app01-3928	469	2	21	21	NUM
app01-3928	469	3	]	]	X
app01-3928	469	4	c.	c.	PROPN
app01-3928	469	5	e.	e.	PROPN
app01-3928	469	6	perkins	perkins	PROPN
app01-3928	469	7	,	,	PUNCT
app01-3928	469	8	p.	p.	PROPN
app01-3928	469	9	bhagwat	bhagwat	NOUN
app01-3928	469	10	.	.	PUNCT
app01-3928	470	1	highly	highly	ADV
app01-3928	470	2	dynamic	dynamic	ADJ
app01-3928	470	3	destination	destination	NOUN
app01-3928	470	4	-	-	PUNCT
app01-3928	470	5	sequenced	sequence	VERB
app01-3928	470	6	distance	distance	NOUN
app01-3928	470	7	-	-	PUNCT
app01-3928	470	8	vector	vector	NOUN
app01-3928	470	9	routing	routing	NOUN
app01-3928	470	10	(	(	PUNCT
app01-3928	470	11	dsdv	dsdv	PROPN
app01-3928	470	12	)	)	PUNCT
app01-3928	470	13	for	for	ADP
app01-3928	470	14	mobile	mobile	ADJ
app01-3928	470	15	computers	computer	NOUN
app01-3928	470	16	.	.	PUNCT
app01-3928	471	1	sigcomm	sigcomm	PROPN
app01-3928	471	2	comput	comput	PROPN
app01-3928	471	3	commun	commun	PROPN
app01-3928	471	4	rev	rev	PROPN
app01-3928	471	5	24(4):234–244	24(4):234–244	PROPN
app01-3928	471	6	,	,	PUNCT
app01-3928	471	7	1994	1994	NUM
app01-3928	471	8	.	.	PUNCT
app01-3928	472	1	doi:10.1145/190314.190336	doi:10.1145/190314.190336	PROPN
app01-3928	472	2	.	.	PUNCT
app01-3928	473	1	[	[	X
app01-3928	473	2	22	22	NUM
app01-3928	473	3	]	]	X
app01-3928	473	4	c.	c.	PROPN
app01-3928	473	5	cheng	cheng	PROPN
app01-3928	473	6	,	,	PUNCT
app01-3928	473	7	r.	r.	PROPN
app01-3928	473	8	riley	riley	PROPN
app01-3928	473	9	,	,	PUNCT
app01-3928	473	10	s.	s.	PROPN
app01-3928	473	11	p.	p.	PROPN
app01-3928	473	12	r.	r.	PROPN
app01-3928	473	13	kumar	kumar	PROPN
app01-3928	473	14	,	,	PUNCT
app01-3928	473	15	j.	j.	PROPN
app01-3928	473	16	j.	j.	PROPN
app01-3928	473	17	garcia	garcia	PROPN
app01-3928	473	18	-	-	PUNCT
app01-3928	473	19	luna	luna	PROPN
app01-3928	473	20	-	-	PUNCT
app01-3928	473	21	aceves	aceve	NOUN
app01-3928	473	22	.	.	PUNCT
app01-3928	474	1	a	a	DET
app01-3928	474	2	loop	loop	NOUN
app01-3928	474	3	-	-	PUNCT
app01-3928	474	4	free	free	ADJ
app01-3928	474	5	extended	extended	ADJ
app01-3928	474	6	bellman	bellman	NOUN
app01-3928	474	7	-	-	PUNCT
app01-3928	474	8	ford	ford	NOUN
app01-3928	474	9	routing	routing	NOUN
app01-3928	474	10	protocol	protocol	NOUN
app01-3928	474	11	without	without	ADP
app01-3928	474	12	bouncing	bounce	VERB
app01-3928	474	13	effect	effect	NOUN
app01-3928	474	14	.	.	PUNCT
app01-3928	475	1	sigcomm	sigcomm	NOUN
app01-3928	475	2	comput	comput	PROPN
app01-3928	475	3	commun	commun	PROPN
app01-3928	475	4	rev	rev	PROPN
app01-3928	475	5	19(4):224–236	19(4):224–236	PROPN
app01-3928	475	6	,	,	PUNCT
app01-3928	475	7	1989	1989	NUM
app01-3928	475	8	.	.	PUNCT
app01-3928	475	9	doi:10.1145/75246.75269	doi:10.1145/75246.75269	NOUN
app01-3928	475	10	.	.	PUNCT
app01-3928	476	1	[	[	X
app01-3928	476	2	23	23	NUM
app01-3928	476	3	]	]	X
app01-3928	476	4	d.	d.	PROPN
app01-3928	476	5	b.	b.	PROPN
app01-3928	476	6	johnson	johnson	PROPN
app01-3928	476	7	,	,	PUNCT
app01-3928	476	8	d.	d.	PROPN
app01-3928	476	9	a.	a.	NOUN
app01-3928	476	10	maltz	maltz	PROPN
app01-3928	476	11	.	.	PUNCT
app01-3928	477	1	dynamic	dynamic	ADJ
app01-3928	477	2	source	source	NOUN
app01-3928	477	3	routing	route	VERB
app01-3928	477	4	in	in	ADP
app01-3928	477	5	ad	ad	X
app01-3928	477	6	hoc	hoc	X
app01-3928	477	7	wireless	wireless	NOUN
app01-3928	477	8	networks	network	NOUN
app01-3928	477	9	,	,	PUNCT
app01-3928	477	10	pp	pp	ADV
app01-3928	477	11	.	.	PUNCT
app01-3928	478	1	153–181	153–181	NUM
app01-3928	478	2	.	.	PUNCT
app01-3928	479	1	springer	springer	PROPN
app01-3928	479	2	us	we	PRON
app01-3928	479	3	,	,	PUNCT
app01-3928	479	4	1996	1996	NUM
app01-3928	479	5	.	.	PUNCT
app01-3928	480	1	doi:10.1007/978	doi:10.1007/978	X
app01-3928	480	2	-	-	PUNCT
app01-3928	480	3	0	0	NUM
app01-3928	480	4	-	-	PUNCT
app01-3928	480	5	585	585	NUM
app01-3928	480	6	-	-	PUNCT
app01-3928	480	7	29603	29603	NUM
app01-3928	480	8	-	-	SYM
app01-3928	480	9	6_5	6_5	NUM
app01-3928	480	10	.	.	PUNCT
app01-3928	481	1	[	[	X
app01-3928	481	2	24	24	NUM
app01-3928	481	3	]	]	X
app01-3928	481	4	v.	v.	PROPN
app01-3928	481	5	d.	d.	PROPN
app01-3928	481	6	parka	parka	PROPN
app01-3928	481	7	,	,	PUNCT
app01-3928	481	8	m.	m.	PROPN
app01-3928	481	9	s.	s.	PROPN
app01-3928	481	10	corsonb	corsonb	PROPN
app01-3928	481	11	.	.	PUNCT
app01-3928	482	1	a	a	DET
app01-3928	482	2	highly	highly	ADV
app01-3928	482	3	adaptive	adaptive	ADJ
app01-3928	482	4	distributed	distribute	VERB
app01-3928	482	5	routing	routing	NOUN
app01-3928	482	6	algorithm	algorithm	NOUN
app01-3928	482	7	for	for	ADP
app01-3928	482	8	mobile	mobile	ADJ
app01-3928	482	9	wireless	wireless	NOUN
app01-3928	482	10	networks	network	NOUN
app01-3928	482	11	.	.	PUNCT
app01-3928	483	1	in	in	ADP
app01-3928	483	2	ieee	ieee	NOUN
app01-3928	483	3	computer	computer	NOUN
app01-3928	483	4	and	and	CCONJ
app01-3928	483	5	communications	communication	NOUN
app01-3928	483	6	societies	society	NOUN
app01-3928	483	7	.	.	PUNCT
app01-3928	484	1	driving	drive	VERB
app01-3928	484	2	the	the	DET
app01-3928	484	3	information	information	NOUN
app01-3928	484	4	revolution	revolution	NOUN
app01-3928	484	5	.	.	PUNCT
app01-3928	485	1	1997	1997	NUM
app01-3928	485	2	.	.	PUNCT
app01-3928	486	1	doi:10.1109	doi:10.1109	PROPN
app01-3928	486	2	/	/	SYM
app01-3928	486	3	infcom.1997.631180	infcom.1997.631180	PROPN
app01-3928	486	4	.	.	PUNCT
app01-3928	487	1	[	[	X
app01-3928	487	2	25	25	NUM
app01-3928	487	3	]	]	PUNCT
app01-3928	487	4	z.	z.	PROPN
app01-3928	487	5	wang	wang	PROPN
app01-3928	487	6	,	,	PUNCT
app01-3928	487	7	y.	y.	PROPN
app01-3928	487	8	chen	chen	PROPN
app01-3928	487	9	,	,	PUNCT
app01-3928	487	10	c.	c.	PROPN
app01-3928	487	11	li	li	PROPN
app01-3928	487	12	.	.	PROPN
app01-3928	487	13	psr	psr	PROPN
app01-3928	487	14	:	:	PUNCT
app01-3928	487	15	a	a	DET
app01-3928	487	16	lightweight	lightweight	ADJ
app01-3928	487	17	proactive	proactive	ADJ
app01-3928	487	18	source	source	NOUN
app01-3928	487	19	routing	routing	NOUN
app01-3928	487	20	protocol	protocol	NOUN
app01-3928	487	21	for	for	ADP
app01-3928	487	22	mobile	mobile	ADJ
app01-3928	487	23	ad	ad	X
app01-3928	487	24	hoc	hoc	X
app01-3928	487	25	networks	network	NOUN
app01-3928	487	26	.	.	PUNCT
app01-3928	488	1	ieee	ieee	NOUN
app01-3928	488	2	transactions	transaction	NOUN
app01-3928	488	3	on	on	ADP
app01-3928	488	4	vehicular	vehicular	ADJ
app01-3928	488	5	technology	technology	NOUN
app01-3928	488	6	63(2):859–868	63(2):859–868	VERB
app01-3928	488	7	,	,	PUNCT
app01-3928	488	8	2014	2014	NUM
app01-3928	488	9	.	.	PUNCT
app01-3928	489	1	doi:10.1109	doi:10.1109	VERB
app01-3928	489	2	/	/	SYM
app01-3928	490	1	tvt.2013.2279111	tvt.2013.2279111	NUM
app01-3928	490	2	.	.	PUNCT
app01-3928	491	1	[	[	X
app01-3928	491	2	26	26	NUM
app01-3928	491	3	]	]	PUNCT
app01-3928	491	4	z.	z.	PROPN
app01-3928	491	5	j.	j.	PROPN
app01-3928	491	6	haas	haas	PROPN
app01-3928	491	7	.	.	PUNCT
app01-3928	492	1	a	a	DET
app01-3928	492	2	new	new	ADJ
app01-3928	492	3	routing	routing	NOUN
app01-3928	492	4	protocol	protocol	NOUN
app01-3928	492	5	for	for	ADP
app01-3928	492	6	the	the	DET
app01-3928	492	7	reconfigurable	reconfigurable	ADJ
app01-3928	492	8	wireless	wireless	NOUN
app01-3928	492	9	networks	network	NOUN
app01-3928	492	10	.	.	PUNCT
app01-3928	493	1	in	in	ADP
app01-3928	493	2	ieee	ieee	PROPN
app01-3928	493	3	international	international	ADJ
app01-3928	493	4	conference	conference	NOUN
app01-3928	493	5	on	on	ADP
app01-3928	493	6	universal	universal	ADJ
app01-3928	493	7	personal	personal	ADJ
app01-3928	493	8	communications	communication	NOUN
app01-3928	493	9	record	record	NOUN
app01-3928	493	10	(	(	PUNCT
app01-3928	493	11	icupc	icupc	NOUN
app01-3928	493	12	)	)	PUNCT
app01-3928	493	13	,	,	PUNCT
app01-3928	493	14	vol	vol	NOUN
app01-3928	493	15	.	.	PROPN
app01-3928	493	16	2	2	NUM
app01-3928	493	17	,	,	PUNCT
app01-3928	493	18	pp	pp	ADJ
app01-3928	493	19	.	.	PUNCT
app01-3928	494	1	562–566	562–566	NUM
app01-3928	494	2	.	.	NOUN
app01-3928	494	3	1997	1997	NUM
app01-3928	494	4	.	.	PUNCT
app01-3928	495	1	doi:10.1109	doi:10.1109	VERB
app01-3928	495	2	/	/	SYM
app01-3928	496	1	icupc.1997.627227	icupc.1997.627227	PROPN
app01-3928	496	2	.	.	PUNCT
app01-3928	497	1	[	[	X
app01-3928	497	2	27	27	NUM
app01-3928	497	3	]	]	X
app01-3928	497	4	s.	s.	PROPN
app01-3928	497	5	r.	r.	PROPN
app01-3928	497	6	das	das	PROPN
app01-3928	497	7	,	,	PUNCT
app01-3928	497	8	c.	c.	PROPN
app01-3928	497	9	e.	e.	PROPN
app01-3928	497	10	perkins	perkins	PROPN
app01-3928	497	11	,	,	PUNCT
app01-3928	497	12	e.	e.	PROPN
app01-3928	497	13	m.	m.	PROPN
app01-3928	497	14	belding	belde	VERB
app01-3928	497	15	-	-	PUNCT
app01-3928	497	16	royer	royer	NOUN
app01-3928	497	17	.	.	PUNCT
app01-3928	498	1	ad	ad	PROPN
app01-3928	498	2	hoc	hoc	X
app01-3928	498	3	on	on	ADP
app01-3928	498	4	-	-	PUNCT
app01-3928	498	5	demand	demand	NOUN
app01-3928	498	6	distance	distance	NOUN
app01-3928	498	7	vector	vector	NOUN
app01-3928	498	8	(	(	PUNCT
app01-3928	498	9	aodv	aodv	NOUN
app01-3928	498	10	)	)	PUNCT
app01-3928	498	11	routing	routing	NOUN
app01-3928	498	12	.	.	PUNCT
app01-3928	499	1	rfc	rfc	PROPN
app01-3928	499	2	3561	3561	NUM
app01-3928	499	3	,	,	PUNCT
app01-3928	499	4	2013	2013	NUM
app01-3928	499	5	.	.	PUNCT
app01-3928	500	1	doi:10.17487	doi:10.17487	NOUN
app01-3928	500	2	/	/	SYM
app01-3928	500	3	rfc3561	rfc3561	NOUN
app01-3928	500	4	.	.	PUNCT
app01-3928	501	1	[	[	X
app01-3928	501	2	28	28	NUM
app01-3928	501	3	]	]	X
app01-3928	501	4	s.	s.	PROPN
app01-3928	501	5	kumar	kumar	PROPN
app01-3928	501	6	,	,	PUNCT
app01-3928	501	7	d.	d.	PROPN
app01-3928	501	8	singh	singh	PROPN
app01-3928	501	9	,	,	PUNCT
app01-3928	501	10	m.	m.	PROPN
app01-3928	501	11	chawla	chawla	PROPN
app01-3928	501	12	.	.	PUNCT
app01-3928	501	13	performance	performance	NOUN
app01-3928	501	14	comparison	comparison	NOUN
app01-3928	501	15	of	of	ADP
app01-3928	501	16	routing	route	VERB
app01-3928	501	17	protocols	protocol	NOUN
app01-3928	501	18	in	in	ADP
app01-3928	501	19	manet	manet	NOUN
app01-3928	501	20	varying	vary	VERB
app01-3928	501	21	network	network	NOUN
app01-3928	501	22	size	size	NOUN
app01-3928	501	23	.	.	PUNCT
app01-3928	502	1	international	international	ADJ
app01-3928	502	2	journal	journal	NOUN
app01-3928	502	3	of	of	ADP
app01-3928	502	4	smart	smart	ADJ
app01-3928	502	5	sensors	sensor	NOUN
app01-3928	502	6	and	and	CCONJ
app01-3928	502	7	ad	ad	NOUN
app01-3928	502	8	-	-	PUNCT
app01-3928	502	9	hoc	hoc	X
app01-3928	502	10	networks	network	NOUN
app01-3928	502	11	(	(	PUNCT
app01-3928	502	12	ijssan	ijssan	ADJ
app01-3928	502	13	)	)	PUNCT
app01-3928	502	14	1(2):51–54	1(2):51–54	NUM
app01-3928	502	15	,	,	PUNCT
app01-3928	502	16	2011	2011	NUM
app01-3928	502	17	.	.	PUNCT
app01-3928	503	1	[	[	X
app01-3928	503	2	29	29	NUM
app01-3928	503	3	]	]	X
app01-3928	503	4	r.	r.	PROPN
app01-3928	503	5	ahuja	ahuja	PROPN
app01-3928	503	6	.	.	PUNCT
app01-3928	504	1	simulation	simulation	PROPN
app01-3928	504	2	based	base	VERB
app01-3928	504	3	performance	performance	NOUN
app01-3928	504	4	evaluation	evaluation	NOUN
app01-3928	504	5	and	and	CCONJ
app01-3928	504	6	comparison	comparison	NOUN
app01-3928	504	7	of	of	ADP
app01-3928	504	8	reactive	reactive	NOUN
app01-3928	504	9	,	,	PUNCT
app01-3928	504	10	proactive	proactive	ADJ
app01-3928	504	11	and	and	CCONJ
app01-3928	504	12	hybrid	hybrid	ADJ
app01-3928	504	13	routing	routing	NOUN
app01-3928	504	14	protocols	protocol	NOUN
app01-3928	504	15	based	base	VERB
app01-3928	504	16	on	on	ADP
app01-3928	504	17	random	random	ADJ
app01-3928	504	18	waypoint	waypoint	NOUN
app01-3928	504	19	mobility	mobility	NOUN
app01-3928	504	20	model	model	NOUN
app01-3928	504	21	.	.	PUNCT
app01-3928	505	1	international	international	ADJ
app01-3928	505	2	journal	journal	PROPN
app01-3928	505	3	of	of	ADP
app01-3928	505	4	computer	computer	NOUN
app01-3928	505	5	applications	application	NOUN
app01-3928	505	6	7(11):20–24	7(11):20–24	NUM
app01-3928	505	7	,	,	PUNCT
app01-3928	505	8	2010	2010	NUM
app01-3928	505	9	.	.	PUNCT
app01-3928	506	1	doi:10.5120/1291	doi:10.5120/1291	NOUN
app01-3928	506	2	-	-	PUNCT
app01-3928	506	3	1765	1765	NUM
app01-3928	506	4	.	.	PUNCT
app01-3928	507	1	[	[	X
app01-3928	507	2	30	30	NUM
app01-3928	507	3	]	]	X
app01-3928	507	4	j.	j.	PROPN
app01-3928	507	5	broch	broch	PROPN
app01-3928	507	6	,	,	PUNCT
app01-3928	507	7	d.	d.	PROPN
app01-3928	507	8	a.	a.	NOUN
app01-3928	507	9	maltz	maltz	PROPN
app01-3928	507	10	,	,	PUNCT
app01-3928	507	11	d.	d.	PROPN
app01-3928	507	12	b.	b.	PROPN
app01-3928	507	13	johnson	johnson	PROPN
app01-3928	507	14	,	,	PUNCT
app01-3928	507	15	et	et	PROPN
app01-3928	507	16	al	al	PROPN
app01-3928	507	17	.	.	PUNCT
app01-3928	508	1	a	a	DET
app01-3928	508	2	performance	performance	NOUN
app01-3928	508	3	comparison	comparison	NOUN
app01-3928	508	4	of	of	ADP
app01-3928	508	5	multi	multi	ADJ
app01-3928	508	6	-	-	ADJ
app01-3928	508	7	hop	hop	ADJ
app01-3928	508	8	wireless	wireless	ADJ
app01-3928	508	9	ad	ad	NOUN
app01-3928	508	10	hoc	hoc	X
app01-3928	508	11	network	network	NOUN
app01-3928	508	12	routing	routing	NOUN
app01-3928	508	13	protocols	protocol	NOUN
app01-3928	508	14	.	.	PUNCT
app01-3928	509	1	in	in	ADP
app01-3928	509	2	4th	4th	ADJ
app01-3928	509	3	annual	annual	ADJ
app01-3928	509	4	acm	acm	PROPN
app01-3928	509	5	/	/	SYM
app01-3928	509	6	ieee	ieee	PROPN
app01-3928	509	7	international	international	ADJ
app01-3928	509	8	conference	conference	NOUN
app01-3928	509	9	on	on	ADP
app01-3928	509	10	mobile	mobile	ADJ
app01-3928	509	11	computing	computing	NOUN
app01-3928	509	12	and	and	CCONJ
app01-3928	509	13	networking	networking	NOUN
app01-3928	509	14	(	(	PUNCT
app01-3928	509	15	mobicom	mobicom	PROPN
app01-3928	509	16	)	)	PUNCT
app01-3928	509	17	,	,	PUNCT
app01-3928	509	18	pp	pp	PROPN
app01-3928	509	19	.	.	PUNCT
app01-3928	509	20	85–97	85–97	NOUN
app01-3928	509	21	.	.	PUNCT
app01-3928	509	22	association	association	NOUN
app01-3928	509	23	for	for	ADP
app01-3928	509	24	computing	compute	VERB
app01-3928	509	25	machinery	machinery	NOUN
app01-3928	509	26	(	(	PUNCT
app01-3928	509	27	acm	acm	PROPN
app01-3928	509	28	)	)	PUNCT
app01-3928	509	29	,	,	PUNCT
app01-3928	509	30	1998	1998	NUM
app01-3928	509	31	.	.	PUNCT
app01-3928	510	1	doi:10.1145/288235.288256	doi:10.1145/288235.288256	PROPN
app01-3928	510	2	.	.	PUNCT
app01-3928	511	1	[	[	X
app01-3928	511	2	31	31	NUM
app01-3928	511	3	]	]	PUNCT
app01-3928	511	4	apache	apache	NOUN
app01-3928	511	5	.	.	PUNCT
app01-3928	512	1	apollo	apollo	PROPN
app01-3928	512	2	1.7.1	1.7.1	NUM
app01-3928	512	3	,	,	PUNCT
app01-3928	512	4	2016	2016	NUM
app01-3928	512	5	.	.	PUNCT
app01-3928	513	1	https://activemq.apache.org/apollo/.	https://activemq.apache.org/apollo/.	NOUN
app01-3928	514	1	[	[	X
app01-3928	514	2	32	32	NUM
app01-3928	514	3	]	]	PUNCT
app01-3928	514	4	p.	p.	NOUN
app01-3928	514	5	hintjens	hintjen	NOUN
app01-3928	514	6	.	.	PUNCT
app01-3928	515	1	zeromq	zeromq	NOUN
app01-3928	515	2	:	:	PUNCT
app01-3928	515	3	messaging	message	VERB
app01-3928	515	4	for	for	ADP
app01-3928	515	5	many	many	ADJ
app01-3928	515	6	applications	application	NOUN
app01-3928	515	7	.	.	PUNCT
app01-3928	516	1	o’reilly	o’reilly	ADV
app01-3928	516	2	media	medium	NOUN
app01-3928	516	3	,	,	PUNCT
app01-3928	516	4	1st	1st	ADJ
app01-3928	516	5	edn	edn	NOUN
app01-3928	516	6	.	.	PUNCT
app01-3928	516	7	,	,	PUNCT
app01-3928	516	8	2013	2013	NUM
app01-3928	516	9	.	.	PUNCT
app01-3928	517	1	[	[	X
app01-3928	517	2	33	33	NUM
app01-3928	517	3	]	]	PUNCT
app01-3928	517	4	m.	m.	NOUN
app01-3928	517	5	sustrik	sustrik	PROPN
app01-3928	517	6	.	.	PUNCT
app01-3928	518	1	the	the	DET
app01-3928	518	2	nanomsg	nanomsg	NOUN
app01-3928	518	3	library	library	NOUN
app01-3928	518	4	,	,	PUNCT
app01-3928	518	5	2015	2015	NUM
app01-3928	518	6	.	.	PUNCT
app01-3928	519	1	http://nanomsg.org/documentation.html	http://nanomsg.org/documentation.html	X
app01-3928	519	2	.	.	PUNCT
app01-3928	520	1	[	[	X
app01-3928	520	2	34	34	NUM
app01-3928	520	3	]	]	X
app01-3928	520	4	b.	b.	PROPN
app01-3928	520	5	yamauchi	yamauchi	PROPN
app01-3928	520	6	.	.	PUNCT
app01-3928	521	1	a	a	DET
app01-3928	521	2	frontier	frontier	NOUN
app01-3928	521	3	-	-	PUNCT
app01-3928	521	4	based	base	VERB
app01-3928	521	5	approach	approach	NOUN
app01-3928	521	6	for	for	ADP
app01-3928	521	7	autonomous	autonomous	ADJ
app01-3928	521	8	exploration	exploration	NOUN
app01-3928	521	9	.	.	PUNCT
app01-3928	522	1	in	in	ADP
app01-3928	522	2	proc	proc	PROPN
app01-3928	522	3	.	.	PUNCT
app01-3928	523	1	ieee	ieee	PROPN
app01-3928	523	2	computational	computational	ADJ
app01-3928	523	3	intelligence	intelligence	NOUN
app01-3928	523	4	in	in	ADP
app01-3928	523	5	robotics	robotic	NOUN
app01-3928	523	6	and	and	CCONJ
app01-3928	523	7	automation	automation	NOUN
app01-3928	523	8	,	,	PUNCT
app01-3928	523	9	pp	pp	ADP
app01-3928	523	10	.	.	PUNCT
app01-3928	524	1	146–151	146–151	NUM
app01-3928	524	2	.	.	NOUN
app01-3928	524	3	1997	1997	NUM
app01-3928	524	4	.	.	PUNCT
app01-3928	525	1	doi:10.1109	doi:10.1109	VERB
app01-3928	525	2	/	/	SYM
app01-3928	525	3	cira.1997.613851	cira.1997.613851	NOUN
app01-3928	525	4	.	.	PUNCT
app01-3928	526	1	[	[	X
app01-3928	526	2	35	35	NUM
app01-3928	526	3	]	]	PUNCT
app01-3928	526	4	m.	m.	NOUN
app01-3928	526	5	kulich	kulich	PROPN
app01-3928	526	6	,	,	PUNCT
app01-3928	526	7	j.	j.	PROPN
app01-3928	526	8	faigl	faigl	PROPN
app01-3928	526	9	,	,	PUNCT
app01-3928	526	10	l.	l.	PROPN
app01-3928	526	11	přeučil	přeučil	PROPN
app01-3928	526	12	.	.	PUNCT
app01-3928	527	1	on	on	ADP
app01-3928	527	2	distance	distance	NOUN
app01-3928	527	3	utility	utility	NOUN
app01-3928	527	4	in	in	ADP
app01-3928	527	5	the	the	DET
app01-3928	527	6	exploration	exploration	NOUN
app01-3928	527	7	task	task	NOUN
app01-3928	527	8	.	.	PUNCT
app01-3928	528	1	in	in	ADP
app01-3928	528	2	ieee	ieee	PROPN
app01-3928	528	3	international	international	ADJ
app01-3928	528	4	conference	conference	NOUN
app01-3928	528	5	on	on	ADP
app01-3928	528	6	robotics	robotic	NOUN
app01-3928	528	7	and	and	CCONJ
app01-3928	528	8	automation	automation	NOUN
app01-3928	528	9	,	,	PUNCT
app01-3928	528	10	pp	pp	ADP
app01-3928	528	11	.	.	PUNCT
app01-3928	528	12	4455–4460	4455–4460	NUM
app01-3928	528	13	.	.	PUNCT
app01-3928	528	14	2011	2011	NUM
app01-3928	528	15	.	.	PUNCT
app01-3928	529	1	doi:10.1109	doi:10.1109	VERB
app01-3928	529	2	/	/	SYM
app01-3928	529	3	icra.2011.5980221	icra.2011.5980221	NOUN
app01-3928	529	4	.	.	PUNCT
app01-3928	530	1	[	[	X
app01-3928	530	2	36	36	NUM
app01-3928	530	3	]	]	X
app01-3928	530	4	b.	b.	PROPN
app01-3928	530	5	yamauchi	yamauchi	PROPN
app01-3928	530	6	.	.	PUNCT
app01-3928	530	7	frontier	frontier	NOUN
app01-3928	530	8	-	-	PUNCT
app01-3928	530	9	based	base	VERB
app01-3928	530	10	exploration	exploration	NOUN
app01-3928	530	11	using	use	VERB
app01-3928	530	12	multiple	multiple	ADJ
app01-3928	530	13	robots	robot	NOUN
app01-3928	530	14	.	.	PUNCT
app01-3928	531	1	in	in	ADP
app01-3928	531	2	second	second	ADJ
app01-3928	531	3	international	international	ADJ
app01-3928	531	4	conference	conference	NOUN
app01-3928	531	5	on	on	ADP
app01-3928	531	6	autonomous	autonomous	ADJ
app01-3928	531	7	agents	agent	NOUN
app01-3928	531	8	(	(	PUNCT
app01-3928	531	9	agents	agent	NOUN
app01-3928	531	10	)	)	PUNCT
app01-3928	531	11	,	,	PUNCT
app01-3928	531	12	pp	pp	PROPN
app01-3928	531	13	.	.	PUNCT
app01-3928	532	1	47–53	47–53	NUM
app01-3928	532	2	.	.	PUNCT
app01-3928	533	1	1998	1998	NUM
app01-3928	533	2	.	.	PUNCT
app01-3928	534	1	doi:10.1145/280765.280773	doi:10.1145/280765.280773	PROPN
app01-3928	534	2	.	.	PUNCT
app01-3928	535	1	27	27	NUM
app01-3928	535	2	http://dx.doi.org/10.1109/icra.2011.5980367	http://dx.doi.org/10.1109/icra.2011.5980367	PROPN
app01-3928	535	3	http://dx.doi.org/10.1109/cicn.2011.129	http://dx.doi.org/10.1109/cicn.2011.129	PROPN
app01-3928	535	4	http://dx.doi.org/10.5120/1270-1749	http://dx.doi.org/10.5120/1270-1749	PROPN
app01-3928	535	5	http://dx.doi.org/10.1109/inmic.2004.1492924	http://dx.doi.org/10.1109/inmic.2004.1492924	PROPN
app01-3928	535	6	http://dx.doi.org/10.7763/ijiet.2013.v3.223	http://dx.doi.org/10.7763/ijiet.2013.v3.223	PROPN
app01-3928	535	7	http://dx.doi.org/10.1145/190314.190336	http://dx.doi.org/10.1145/190314.190336	PROPN
app01-3928	535	8	http://dx.doi.org/10.1145/75246.75269	http://dx.doi.org/10.1145/75246.75269	PROPN
app01-3928	535	9	http://dx.doi.org/10.1007/978-0-585-29603-6_5	http://dx.doi.org/10.1007/978-0-585-29603-6_5	PROPN
app01-3928	535	10	http://dx.doi.org/10.1109/infcom.1997.631180	http://dx.doi.org/10.1109/infcom.1997.631180	NOUN
app01-3928	535	11	http://dx.doi.org/10.1109/tvt.2013.2279111	http://dx.doi.org/10.1109/tvt.2013.2279111	NOUN
app01-3928	535	12	http://dx.doi.org/10.1109/icupc.1997.627227	http://dx.doi.org/10.1109/icupc.1997.627227	PROPN
app01-3928	535	13	http://dx.doi.org/10.17487/rfc3561	http://dx.doi.org/10.17487/rfc3561	NOUN
app01-3928	535	14	http://dx.doi.org/10.5120/1291-1765	http://dx.doi.org/10.5120/1291-1765	ADV
app01-3928	535	15	http://dx.doi.org/10.1145/288235.288256	http://dx.doi.org/10.1145/288235.288256	VERB
app01-3928	535	16	https://activemq.apache.org/apollo/	https://activemq.apache.org/apollo/	NOUN
app01-3928	535	17	http://nanomsg.org/documentation.html	http://nanomsg.org/documentation.html	PRON
app01-3928	535	18	http://dx.doi.org/10.1109/cira.1997.613851	http://dx.doi.org/10.1109/cira.1997.613851	NOUN
app01-3928	535	19	http://dx.doi.org/10.1109/icra.2011.5980221	http://dx.doi.org/10.1109/icra.2011.5980221	VERB
app01-3928	535	20	http://dx.doi.org/10.1145/280765.280773	http://dx.doi.org/10.1145/280765.280773	PROPN
app01-3928	535	21	acta	acta	PROPN
app01-3928	535	22	polytechnica	polytechnica	PROPN
app01-3928	535	23	ctu	ctu	PROPN
app01-3928	535	24	proceedings	proceeding	NOUN
app01-3928	535	25	6:18–27	6:18–27	NUM
app01-3928	535	26	,	,	PUNCT
app01-3928	535	27	2016	2016	NUM
app01-3928	535	28	1	1	NUM
app01-3928	535	29	introduction	introduction	NOUN
app01-3928	535	30	2	2	NUM
app01-3928	535	31	ad	ad	NOUN
app01-3928	535	32	hoc	hoc	X
app01-3928	535	33	routing	routing	NOUN
app01-3928	535	34	protocols	protocol	NOUN
app01-3928	535	35	2.1	2.1	NUM
app01-3928	535	36	proactive	proactive	ADJ
app01-3928	535	37	routing	route	VERB
app01-3928	535	38	protocols	protocol	NOUN
app01-3928	535	39	2.2	2.2	NUM
app01-3928	535	40	reactive	reactive	ADJ
app01-3928	535	41	routing	routing	NOUN
app01-3928	535	42	protocols	protocol	NOUN
app01-3928	535	43	2.3	2.3	NUM
app01-3928	535	44	hybrid	hybrid	ADJ
app01-3928	535	45	routing	routing	NOUN
app01-3928	535	46	protocols	protocol	NOUN
app01-3928	535	47	2.4	2.4	NUM
app01-3928	535	48	comparison	comparison	NOUN
app01-3928	535	49	of	of	ADP
app01-3928	535	50	routing	route	VERB
app01-3928	535	51	protocols	protocol	NOUN
app01-3928	535	52	3	3	NUM
app01-3928	535	53	message	message	NOUN
app01-3928	535	54	oriented	orient	VERB
app01-3928	535	55	middleware	middleware	NOUN
app01-3928	535	56	4	4	NUM
app01-3928	535	57	distributed	distribute	VERB
app01-3928	535	58	exploration	exploration	NOUN
app01-3928	535	59	5	5	NUM
app01-3928	535	60	experimental	experimental	ADJ
app01-3928	535	61	results	result	NOUN
app01-3928	535	62	5.1	5.1	NUM
app01-3928	535	63	time	time	NOUN
app01-3928	535	64	of	of	ADP
app01-3928	535	65	the	the	DET
app01-3928	535	66	exploration	exploration	NOUN
app01-3928	535	67	5.2	5.2	NUM
app01-3928	535	68	plan	plan	NOUN
app01-3928	535	69	generations	generation	NOUN
app01-3928	535	70	6	6	NUM
app01-3928	535	71	conclusion	conclusion	NOUN
app01-3928	535	72	acknowledgements	acknowledgement	NOUN
app01-3928	535	73	references	reference	NOUN